To simplify a structure and reduce cost by providing a noise-suppression signal formation means for forming the noise-suppression signal with anti-phase but same amplitude based on a driving control command to drive mechanism and a driving noise characteristic of the mechanism.

The noise-suppression signal formation means 212 is equipped with a future-noise signal predicting means 213 for forming and outputting a prediction-noise signal S3 with predicting the possibly-generated noise of the drive mechanism 214 according to the drive control command S1 based on the drive control command S1 from a drive-control command formation means 201 and a drive-noise characteristic stored in a drive-noise characteristic storing means 211, an anti-phase signal formation means 214 for forming and outputting the noise-suppression signal S4 with anti-phase but the same amplitude as the one of the prediction-noise signal S3 from the future-noise signal predicting means 213, a D/A converter 215 for D/A converting the noise-suppression signal S4 from the anti-phase signal formation means 214 and an amplifier 216 for amplifying the D/A converted results to the noise-suppression signal S4 and outputting it to a speaker 120.