Patent ID: 8248008

Claim:
A motor control device comprising: a measurement unit that measures speed of one of a motor and a driven object which is driven by the motor; a speed control unit that determines a manipulated variable for the motor, the manipulated variable corresponding to a target speed of the one of the motor and the driven object; a correction unit that corrects the manipulated variable determined by the speed control unit; a drive unit that drives the motor based on a corrected manipulated variable corrected by the correction unit; and a disturbance suppressing unit that determines, by estimating disturbance based on the corrected manipulated variable corrected by the correction unit and a measurement value of the speed measured by the measurement unit, a correction amount to correct the manipulated variable obtained by the speed control unit so as to suppress the disturbance; wherein the correction unit, during a time period before the measurement value of the speed becomes greater than zero, corrects the manipulated variable in such a manner that a reduced correction amount which is from zero percent to less than 100 percent of the correction amount determined by the disturbance suppressing unit, is added to the manipulated variable determined by the speed control unit.