To prevent vibration and control instability due to feedback control from being generated in a controlled system even in the case of performing the feedback control with the root of the output shaft of an actuator as a detection position.

A main control means 10 for feedback controlling the controlled system and an auxiliary control means 40 are used, a correction command value for offsetting a command value by the feedback control causing the vibration or the control instability in the controlled system is generated by the auxiliary control means 40, the correction command value is added to the command value by the feedback control and the vibration and the control instability due to the feedback control are prevented.