This control device for outputting a voltage command value has: a feedback controller that performs a feedback control on the basis of a current value and outputs a first voltage value; a feedforward controller that is constructed using an inverse model of a plant to be controlled; a feedforward voltage corrector that corrects a voltage disturbance produced by a modeling error between a model of a plant and an actual plant; a repeat controller that learns a cyclic current disturbance; and a switch that controls the input/output of the repeat controller. The switch is turned on when a current response is in a steady state, and the repeat controller learns the current disturbance and corrects a current command value. The feedback controller performs a feedback control on the basis of a current value obtained from the corrected current command value, and outputs the first voltage value. The feedforward controller inputs the current command value to the inverse model and generates a second voltage value. The cont
