A motor control device includes: a motor control unit; and a signal output unit, the motor control unit includes: a first control unit configured to estimate a current upper limit value on the basis of the rotation speed of the motor and a current decrease caused by back electromotive force, the first control unit configured to determine a control input corresponding to the estimated current upper limit value, and a second control unit configured to determine a control input to be applied to the motor on the basis of an operation amount of the motor and a target value of the operation amount to control the motor, and in the early period of driving of the motor, the motor is controlled by the first control unit, and in the late period of driving of the motor, the motor is controlled by the second control unit.