A simulation device, configured to simulate a control system having a control object comprising a motor driving a load device and a servo driver controlling the motor to determine a motor control command based on a simulated response of the load device, wherein the simulation device comprises: a simulation system, comprising a predetermined feedback system having, as a forward element, at least a predetermined control block structure corresponding to a predetermined device-side configuration comprising the control object and including an impulse response model unit (520, 530); a holding unit, configure to store impulse response information for calculation included in the impulse response model unit (520, 530) which is information on an impulse response relating to the predetermined device-side configuration; a first response calculation unit, configured to calculate a time response of the predetermined device-side configuration to a predetermined input impulse response of the motor control command by convolution processing using the impulse response information for calculation extracted from the holding unit and the predetermined input value; and a second response calculation unit, configured to calculate a response of the simulation system to a command value input to the simulation system by using the time response of the predetermined device-side configuration calculated by the first response calculation unit; wherein the second response calculation unit, in the predetermined feedback system, configured to calculate the response of the simulation system in accordance with a method of feeding back the time response of the predetermined device-side configuration or a predetermined response result calculated from the time response to an input side of the forward element, the impulse response is an impulse response to a current command (ccmd), the predetermined feedback system is a speed feedback system, and comprises, as the forward element in the predetermined feedback system, the predetermined control block structure and a speed control block structure relating to speed compensation, and the second response calculation unit configured to calculate a time response of the simulation system so that a speed response calculated by the first response calculation unit is fed back to the speed control block structure in accordance with the feedback method. a simulation system, comprising a predetermined feedback system having, as a forward element, at least a predetermined control block structure corresponding to a predetermined device-side configuration comprising the control object and including an impulse response model unit (520, 530); a holding unit, configure to store impulse response information for calculation included in the impulse response model unit (520, 530) which is information on an impulse response relating to the predetermined device-side configuration; a first response calculation unit, configured to calculate a time response of the predetermined device-side configuration to a predetermined input impulse response of the motor control command by convolution processing using the impulse response information for calculation extracted from the holding unit and the predetermined input value; and a second response calculation unit, configured to calculate a response of the simulation system to a command value input to the simulation system by using the time response of the predetermined device-side configuration calculated by the first response calculation unit; wherein the second response calculation unit, in the predetermined feedback system, configured to calculate the response of the simulation system in accordance with a method of feeding back the time response of the predetermined device-side configuration or a predetermined response result calculated from the time response to an input side of the forward element, the impulse response is an impulse response to a current command (ccmd), the predetermined feedback system is a speed feedback system, and comprises, as the forward element in the predetermined feedback system, the predetermined control block structure and a speed control block structure relating to speed compensation, and the second response calculation unit configured to calculate a time response of the simulation system so that a speed response calculated by the first response calculation unit is fed back to the speed control block structure in accordance with the feedback method.