PURPOSE: To provide a control system for machine element which is suitable to the digital control with a simple control rule and can extremely facilitate the design of a control system despite a multi-freedom degree.

CONSTITUTION: The track target value θd(t) and the initial value θ(O) are set (S1), and the position θ(KT), the speed θ'(KT) and the acceleration θ"(KT) are sampled for a controlled subject every the prescribed sampling timing S2, S3 (S4). The target speed θd'(t) and the target acceleration θd"(t) are calculated from the value θd(t). The value obtained by multiplying the difference between the acceleration θd"(t) and the present acceleration θ"(t) and the difference between the speed θd'(t) and the present speed θd"(t) by a speed deviation coefficient KD is added to the value obtained by multiplying the difference between the target position θd(t) and the present position θd(t) by a position deviation coefficient KP. Then the result of addition is multiplied by an inertia matrix M (θ(KT)) of the controlled system. The result of multiplication is added to the precedent input torque τ[(K-1)T] (S6). Thus the driving torque τ(KT) of a manipulator 5 is calculated.