CONTROL DEVICE, ELECTRIC POWER STEERING DEVICE, AND CONTROL METHOD

Provided are a control device, an electric power steering device, and a control method, the control device controlling a portion of a steering mechanism including at least a motor as a control target, the control device comprising: a reaction force control unit for generating an input torque to be input to the control target and controlling a reaction force transmitted from a steering wheel to a steer; an assist control unit that generates a correction torque for correcting the input torque on the basis of the output of the control target and the nominal model; and a state feedback unit that feeds back the state compensation value to the input torque on the basis of the output of the control target. The assist control unit is configured such that the transfer function of the control object is constrained to the transfer function of the nominal model in a frequency band in which the gain in the gain characteristic of the complementary sensitivity function with respect to the modeling error between the control