To provide a machine control device which stops a long arm, on which a heavy load is attached to a top, at a target position even when the long arm is moved without vibration whose oscillating frequency is high.

The machine control device suppresses the vibration in the high frequency area by disposing a first bypassing means 4c in a position adjustment means 4b and raising a gain in the high frequency area in a position control device which is provided with a first subtract means 4a, a position adjustment means 4b, a first addition means 4d, a second subtract means 4e, and a speed adjustment means 4b.