Frequency characteristic measurement device and frequency characteristic measurement method

Frequency characteristics are measured with high precision. A frequency characteristic measurement device (10) is provided with a first output unit (11), a frequency characteristic calculation unit (13), a resonance frequency calculation unit (14), and a second output unit (12). A frequency characteristic calculation unit (13) calculates a first frequency characteristic of a servo system (20) on the basis of a first excitation signal in a first frequency range from a first output unit (11) and a first state signal acquired from the servo system (20) to which the first excitation signal has been input. A resonance frequency calculation unit (14) calculates a resonance frequency or an anti-resonance frequency of the servo system (20) on the basis of the first frequency characteristic. The second output unit (12) outputs a second excitation signal in a second frequency range including the resonant frequency or the anti-resonant frequency. The frequency characteristic calculation unit (13) calculates a second fre