A motor control device that performs drive control on an electric motor for steering angle control, the motor control device comprising: a manual steering command value generation unit that generates a manual steering command value (θ mdac ) being an angle value, using steering torque; an integrated angle command value computation unit that computes an integrated angle command value (θ acmd ) by adding the manual steering command value (θ mdac ) to an automatic steering command value (θ adac ) being an angle value; and a control unit that performs angle control on the electric motor on the basis of the integrated angle command value (θ acmd ), wherein the control unit includes a basic torque command value computation unit that computes a basic torque command value on the basis of the integrated angle command value (θ acmd ), characterized in that the control unit further includes a disturbance torque estimation unit , as a disturbance observer, that estimates disturbance torque (T̂ lc ) other than motor torque that is generated by the electric motor and acts on an object to be driven by the electric motor , and a disturbance torque compensation unit that corrects the basic torque command value in accordance with the disturbance torque, wherein the basic torque command value is a basis for a motor torque command value (T m ). a manual steering command value generation unit that generates a manual steering command value (θ mdac ) being an angle value, using steering torque; an integrated angle command value computation unit that computes an integrated angle command value (θ acmd ) by adding the manual steering command value (θ mdac ) to an automatic steering command value (θ adac ) being an angle value; and a control unit that performs angle control on the electric motor on the basis of the integrated angle command value (θ acmd ), wherein the control unit includes a basic torque command value computation unit that computes a basic torque command value on the basis of the integrated angle command value (θ acmd ), characterized in that the control unit further includes a disturbance torque estimation unit , as a disturbance observer, that estimates disturbance torque (T̂ lc ) other than motor torque that is generated by the electric motor and acts on an object to be driven by the electric motor , and a disturbance torque compensation unit that corrects the basic torque command value in accordance with the disturbance torque, wherein the basic torque command value is a basis for a motor torque command value (T m ). a basic torque command value computation unit that computes a basic torque command value on the basis of the integrated angle command value (θ acmd ), characterized in that the control unit further includes a disturbance torque estimation unit , as a disturbance observer, that estimates disturbance torque (T̂ lc ) other than motor torque that is generated by the electric motor and acts on an object to be driven by the electric motor , and a disturbance torque compensation unit that corrects the basic torque command value in accordance with the disturbance torque, wherein the basic torque command value is a basis for a motor torque command value (T m ). <EOS>