To provide a position controller having a backlash correction function that accurately operates regardless of an operation condition of a control object in a full closed position controller for controlling the position of the control object with a servo motor.

This position controller is provided with a backlash correction operating part which sorts occurrence conditions of backlash inside operation from a speed command value, an acceleration command value and a torque command value, discriminates the existence/non-existence of an occurrence of backlash inside operation with a reference fitting the respective conditions and operates a backlash correction value having accurate direction and magnitude.