A motor drive device which drives a motor to which a load is connected, the motor drive device comprising: a position command generator which generates a position command corresponding to a target position of the motor; a damping filter unit which includes one or more stages of damping filters, the damping filter unit applying, to the position command, a damping filter determined from among the one or more stages of the damping filters based on a model parameter ( ω̂ p(i+1), ζ̂ p(i+1), ω̂ z(i+1), ζ̂ z(i+1)) corresponding to a model of a device including the load and the motor, and outputting a filtered position command to which the damping filter has been applied, the one or more stages of the damping filters reducing vibration of the device; a servo controller which gives a torque command (τ in) to the motor based on the filtered position command; a low-pass filter unit which removes a frequency component higher than or equal to a predetermined cutoff frequency; a parameter estimation unit which estimates the model parameter ( ω̂ p(i+1), ζ̂ p(i+1), ω̂ z(i+1) ζ̂ z(i+1)) from a rotational speed of the motor and the torque command (τ in) which have passed through the low-pass filter unit; and a vibration determination unit which determines presence or absence of a vibration component of an (i+1) th inertia system in the model; wherein the parameter estimation unit includes an intermediate torque estimation unit which estimates an intermediate torque (τ M) by using the rotational speed (ω m) of the motor and the model parameter ( ω̂ p(i+1), ζ̂ p(i+1), ω̂ z(i+1), ζ̂ z(i+1)) estimated by the parameter estimation unit, and the vibration determination unit determines the presence or the absence of the vibration in the model by using the intermediate torque (τ M), the torque command (τ in), and the model parameter ( ω̂ p(i+1), ζ̂ p(i+1), ω̂ z(i+1) ζ̂ z(i+1)) estimated by the parameter estimation unit, characterized in that when the vibration component of the (i+1)th inertia system has been determined to be present, an (i+1)th stage damping filter is activated and the estimated model parameter ( ω̂ p(i+1), ζ̂ p(i+1), ω̂ z(i+1), ζ̂ z(i+1)) is set for the (i+1)th stage damping filter, and when the vibration is determined to be absent the (i+1)th stage damping filter is not set. a position command generator which generates a position command corresponding to a target position of the motor; a damping filter unit which includes one or more stages of damping filters, the damping filter unit applying, to the position command, a damping filter determined from among the one or more stages of the damping filters based on a model parameter ( ω̂ p(i+1), ζ̂ p(i+1), ω̂ z(i+1), ζ̂ z(i+1)) corresponding to a model of a device including the load and the motor, and outputting a filtered position command to which the damping filter has been applied, the one or more stages of the damping filters reducing vibration of the device; a servo controller which gives a torque command (τ in) to the motor based on the filtered position command; a low-pass filter unit which removes a frequency component higher than or equal to a predetermined cutoff frequency; a parameter estimation unit which estimates the model parameter ( ω̂ p(i+1), ζ̂ p(i+1), ω̂ z(i+1) ζ̂ z(i+1)) from a rotational speed of the motor and the torque command (τ in) which have passed through the low-pass filter unit; and a vibration determination unit which determines presence or absence of a vibration component of an (i+1) th inertia system in the model; wherein the parameter estimation unit includes an intermediate torque estimation unit which estimates an intermediate torque (τ M) by using the rotational speed (ω m) of the motor and the model parameter ( ω̂ p(i+1), ζ̂ p(i+1), ω̂ z(i+1), ζ̂ z(i+1)) estimated by the parameter estimation unit, and the vibration determination unit determines the presence or the absence of the vibration in the model by using the intermediate torque (τ M), the torque command (τ in), and the model parameter ( ω̂ p(i+1), ζ̂ p(i+1), ω̂ z(i+1) ζ̂ z(i+1)) estimated by the parameter estimation unit, characterized in that when the vibration component of the (i+1)th inertia system has been determined to be present, an (i+1)th stage damping filter is activated and the estimated model parameter ( ω̂ p(i+1), ζ̂ p(i+1), ω̂ z(i+1), ζ̂ z(i+1)) is set for the (i+1)th stage damping filter, and when the vibration is determined to be absent the (i+1)th stage damping filter is not set.