To completely suppress vibrations in the case of a mechanical operation by the form of a command even when vibrations are damped.

When the natural-vibrational angular frequency of the whole system is represented by ωn and a damping factor by ξ, a fundamental waveform is prepared, the fundamental waveform is displaced by td=π/(ωn sqrt (1-ξ2)), a waveform multiplying a magnitude at the α=exp (-ξ ωn td) times of the fundamental waveform is prepared and the waveform adding these waveforms is prepared. The waveform is processed by a procedure using the waveform multplied by a gain in response to a travel as a speed command.