To eliminate the occurrence of the difference in time for outputting n pieces of digital driving signals in a control filter means for receiving n pieces of digital error signals and outputting n pieces of the digital driving signals.

This controller is provided with an A/D conversion means for receiving n-dimensional analog error signals and outputting n-dimensional digital error signals, a multidimensional control filter means for receiving the above n-dimensional digital error signals and outputting the n-dimensional digital driving signals, and a D/A conversion means for receiving the above n- dimensional digital driving signals and outputting n-dimensional analog driving signals. The above multidimensional control filter means outputs the n- dimensional digital driving signals by calculating the n-dimensional digital error signals with a single filter, thereby outputting n pieces of driving direction components included in the n-dimensional digital driving signals simultaneously.