PURPOSE: To compensate the rising delay of a current loop and to improve the command following performance by using the acceleration compensation data of early timing for a velocity feedforward control system which differentiates a velocity command to add it to a torque command.

CONSTITUTION: When a position command is inputted to a feedforward control system, a velocity compensation component and an acceleration compensation component are produced by a leading feedforward term 100. Among these, the velocity compensation component is added to a velocity loop 101, and the acceleration compensation component is added to a current loop 102 via a time forward term 105. At the same time, the timing is advanced to add the acceleration compensation data to the loop 102 by the term 105. As a result, the rising delay of the loop 102 is compensated and a motor can be controlled with the satisfactory command following performance.