Motor Control Device and Brake Control Device

Disclosed are a motor control device that can accurately estimate a rotor position based on a neutral point potential even when a load increases, and a brake control device that is driven by the motor control device. The motor control device includes a three-phase synchronous motor including a three-phase winding, an inverter connected to the three-phase winding, a control unit for controlling the inverter based on a rotor position of the three-phase synchronous motor, and a rotational position estimation unit for estimating a rotor position θd based on a neutral point potential Vn of the three-phase winding. The rotational position estimation unit estimates a rotor position selectively using one or more of a plurality of detected values of the neutral point potential according to a pre-estimated value of the rotor position and a voltage application state to the three-phase winding.