Fecha de publicación: 05/01/2023 Fuente: WIPO (eseential oils OR extracts) The present invention is a motor control device included in a position control system for performing position control of a machine end connected to a motor. The motor control device is built into the position control system so as to receive a first speed command from an upper-level control device and output a position response of a motor shaft to the upper-level control device and has a speed controller and an intra-speed-control-system damping controller. The intra-speed-control-system damping controller has: a position command estimator for calculating an estimation value of a position command on the basis of the first speed command and the position response of the motor shaft; a parallel damping controller that extracts, on the basis of the estimation value of the position command, a frequency component exciting the vibration of the machine end, said frequency component being included in the first speed command, and that outputs the extracted frequency component; a phase adjuster for improving a response delay generated due to the parallel damping controller; a first unit converter for converting an output of the phase adjuster to the dimension of speed; and a computing unit. The computing unit subtracts the output of the parallel damping controller from the first speed command to remove, from the first speed command, the frequency component exciting the vibration of the machine end, outputs the result as a second speed command, outputs a first actual speed command as an output of the intra-speed-control-system damping controller on the basis of an output of the first unit converter and the second speed command, and sets the first actual speed command as a command of the speed controller.