A motor control device equipped with a movement command generation unit that outputs a motor movement command, a filter that outputs the movement command after performing a filtering process, and a position control unit that performs position control by using the output from the filter as an input. The filter is an infinite impulse response digital filter expressed by the transfer function H(z): H(z) = (b0+b1*z-1+b2*z-2)/{1-(a1*z-1+a2*z-2)}, which includes filter coefficients a1, a2, b0, b1, and b2. The filter is configured so as to change the filter coefficient b0 with a first sample period,change the filter coefficients a1 and b1 with a second sample period following the first sampling period, and change the filter coefficients a2 and b2 with a third sample period following the second sampling period.