To provide a motor control device capable of appropriately controlling a motor even when an output value from variable value detection means returns from "abnormal" to "normal".

A motor control device 100 for electric power steering comprises: a torque sensor 1 which detects a steering torque; an abnormality/failure determination unit 2 which determines whether an output value from the torque sensor 1 is abnormal or normal; a low-pass filter 3 which sets an alternative value of the output value from the torque sensor 1; and a delay circuit 4. If the output value from the torque sensor 1 becomes "abnormal" when the motor control device is controlling a motor 11 on the basis of the output value from the torque sensor 1, the motor control device switches a change-over switch SW from "normal" to "abnormal" and controls the motor 11 on the basis of the alternative value instead of the output value from the torque sensor 1. In addition, if the output value from the torque sensor 1 returns from "abnormal" to "normal", the motor control device switches the change-over switch SW from "abnormal" to "normal" and controls the motor 11 on the basis of the output value from the torque sensor 1 instead of the alternative value.