To provide a fixed-position stop control system capable of achieving positioning of a motor at high speed while decelerating the motor with as large a torque as possible and while achieving a reduction in overshoot during positioning.

After the rotational speed of a rotor of a motor M is reduced to an orientation speed, a control section 7 gives a deviation between a speed designated by a position loop speed command vc and a squared speed v2 to a speed controller 4. A torque addition command ac determined by the control section 7 is added to a torque command tc output from the speed controller 4 to obtain an added torque command atc. The added torque command atc is given to a torque controller 6. Then, the position and speed of the rotor are controlled according to a sliding curve defined by using physical parameters used for the orientation control so as to stop the rotor at a target position. Thus, the sliding mode control is used to adjust the input to the torque controller.