Position control device for electric motor inputs deviation signal between angle command and angle detection value to position control section and calculates angular velocity command, inputs deviation signal between this angular velocity command and angular velocity detection value to speed control section and calculates torque current command, and controls, according to this torque current command, the electric motor current control section. The Position control device has disturbance observer section which inputs the torque current command and the angular velocity detection value and estimates signal corresponding to disturbance torque; rate-of-change limitation section which has limiter inputting disturbance observer output value by this disturbance observer section and performing rate-of-change limitation of upper and lower limit values of the angle command; and target value filter section which is configured by control gain equivalent to the speed control section and through which the angular velocity command from the position control section passes.