An adaptive control device comprising: a controller which outputs an operation value (u) to a controlled target; and a parallel feed-forward compensator which outputs based on the operation value, a compensation value (y f) used for compensating a feedback value (y a) of a controlled value (y) output from the controlled target; the controller being configured to perform feedback control in such a manner that the controller outputs the operation value based on a command value (r) and the feedback value which is a sum of the controlled value output from the controlled target and the compensation value output from the parallel feed-forward compensator; wherein the parallel feed-forward compensator includes: an identification section which sequentially estimates a frequency response characteristic of the controlled target; and an adjustment section which adjusts the compensation value based on the estimated frequency response characteristic, characterised in that the parallel feed-forward compensator has a transfer function (G f (s)) in a first order lag system including a PFC frequency (ω f) and a PFC gain (K f), wherein the adjustment section is configured to adjust the compensation value by setting the PFC frequency and the PFC gain by multiplying by predetermined coefficients, a frequency (ω p) and a gain (K p) in which a phase lag of the controlled target is equal to or greater than a predetermined value (φ p) based on the frequency response characteristic. a controller which outputs an operation value (u) to a controlled target; and a parallel feed-forward compensator which outputs based on the operation value, a compensation value (y f) used for compensating a feedback value (y a) of a controlled value (y) output from the controlled target; the controller being configured to perform feedback control in such a manner that the controller outputs the operation value based on a command value (r) and the feedback value which is a sum of the controlled value output from the controlled target and the compensation value output from the parallel feed-forward compensator; wherein the parallel feed-forward compensator includes: an identification section which sequentially estimates a frequency response characteristic of the controlled target; and an adjustment section which adjusts the compensation value based on the estimated frequency response characteristic, characterised in that the parallel feed-forward compensator has a transfer function (G f (s)) in a first order lag system including a PFC frequency (ω f) and a PFC gain (K f), wherein the adjustment section is configured to adjust the compensation value by setting the PFC frequency and the PFC gain by multiplying by predetermined coefficients, a frequency (ω p) and a gain (K p) in which a phase lag of the controlled target is equal to or greater than a predetermined value (φ p) based on the frequency response characteristic. an identification section which sequentially estimates a frequency response characteristic of the controlled target; and an adjustment section which adjusts the compensation value based on the estimated frequency response characteristic, characterised in that the parallel feed-forward compensator has a transfer function (G f (s)) in a first order lag system including a PFC frequency (ω f) and a PFC gain (K f), wherein the adjustment section is configured to adjust the compensation value by setting the PFC frequency and the PFC gain by multiplying by predetermined coefficients, a frequency (ω p) and a gain (K p) in which a phase lag of the controlled target is equal to or greater than a predetermined value (φ p) based on the frequency response characteristic.