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I had the exact issue on my 87 300E, yes it was the cruise control amp, it's located under the dash to the left of the steering column, remove the black plastic cover and plug in another used or new cruise control amp and let it hang down while you test drive, if it work properly you then have to remove part of the dash to replace the amp properly, remove the headlight switch, remove the large nut and pop off the panel and that exposed 3 bolts to remove, 2 on the ignition side. If you need more details e mail me and I will help you out but that should solve your problem.
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Jerry
2004 SL500 Black 55K Miles 
2002 s500 Black 90K Miles 
1986 300E Gold 233K Miles 
1966 Twin Cessna 320D
1989 Jeep Cherokee 233K Miles 
1994 Ford Van E150 399K Miles
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