To correct yawing at the time of driving, and to reduce the steady error of load variation to zero.

This synchronization controller is provided with a motor driving position control type controller having a position control part and a speed control part and a position loop and a speed loop in a first axial servo system and a second axial speed control type controller with the first axial speed command as a second axial command. This synchronization controller is provided with a torque compensator for estimating a torque by using a torque command and a motor speed, and for adding the estimated torque to the torque command.