Motor control device, motor control method, motor module, and electric power steering device

A control device usable in an electric power steering device including a motor to control the motor, the control device comprising:

• a torque controller to operate based on steering torque and to provide an input to a control target that is the motor;
• and
• a model following controller to generate a first correction torque based on an output from the control target;
• wherein
• the model following controller includes:
• a high-pass filter to remove a low frequency component from the first correction torque;
• a friction compensation calculator coupled in parallel to the high-pass filter to apply friction compensation to the first correction torque to calculate an estimated value of a mechanical friction torque;
• and
• an adder to add the estimated value of the friction torque to the first correction torque from which the low frequency component is removed by the high-pass filter to generate a second correction torque, and to feed back the second correction torque to an input to the control target.