A control parameter adjustment device according to an embodiment of the present invention has an acquisition unit and a derivation unit. In order to make a control variable for a control target coincide with a desired value, the acquisition unit acquires, from a control unit that performs feedback control that adjusts a control input that is given to the control target, the control variable, the desired value, the control input, and time series data for measurable disturbance. On the basis of the time series data acquired by the acquisition unit, the derivation unit derives at least proportional gain and integral gain for the feedback control such that a transfer function for a closed loop from the disturbance to the control variable matches a disturbance reference model that incorporates the inverse of integral gain.