To improve a feed forward control operation and to improve control ability as a whole by adding a specified feed forward operation result and a specified feed back operation result, driving an actuator based on the added result and controlling a control object.

A subtracter 12 subtracts an actual position signal yk detected by an encoder 200 from a target position command rk at a sampling period K and calculates a position deviation signal (rk-yk). The calculated position deviation signal (rk-yk) is controlled/operated based on an expression I by a feedback control operation part 16. The feedback operation result and a feed forward operation result obtained based on an expression II by a feed forward operation part 14 are added by an adder 18 and a motor 1 is driven/ controlled based on the result. In the expression, K1-K7 each show gains, rk shows a target command, yk an actual value, fbk the feed back operation result, ffk the feed forward operation result.