To provide a controller capable of promptly compensating and suppressing an influence of periodic disturbance on the output of a controlled object, and improving stability of controlling and controlling accuracy, even when controlling the controlled object receiving the periodic disturbance wherein disturbance is periodically changed.

The controller is equipped with an ECU2. The ECU2 calculates disturbance compensation values Rcyc_cin, Rcyc_lin, Rcyc_cr for compensating the periodic disturbance, at the generation timing of a CRK signal, by map search and table search (steps 1 to 15). At a predetermined control period Δt, according to the disturbance compensation values Rcyc_cin, Rcyc_lin, Rcyc_cr read at the control period Δt, controlling input Ucain, Uliftin, Ucr are respectively calculated by predetermined controlling algorithms (expressions 1 to 8, 10 to 16, 21 to 33, and 42 to 54) (steps 26 to 28).