To prevent direct appearance of influence of characteristic dispersion between axes being control objects in dispersion of a control characteristic and to selectively suppress relative deflection in multi-axis synchronous control.

In a plurality of axes 14 and 24 being the control objects, which constitute the control objects by one target command 2, input and output are compared with a desired input/output characteristic generated by reference models 16 and 26. Compensation input for suppressing a difference is calculated, and it is added to primary control inputs 11 and 21. Thus, influence of dispersion of element characteristics constituting the axes 14 and 24 being the control objects is suppressed. A whole control system of the axes 14 and 24 being the control objects is set to be a master/slave structure 3. A hybrid synchronous control structure using a master/slave system and a reference model control rule is obtained.