To apply control having feedforward such as prediction control for purposes of reduction of a model error without difficulty when an error is present between a model considered by the feedforward and an actual machine, and to adjust balance between parameters α, β to more minutely adjust a response of the actual machine.

This control computing device 100 is provided with a computing equipment 160 having an error signal calculation part outputting an error instruction and an error feedback value on the basis of a position feedforward signal and a position detection value, and an error compensation computing part performing control such that the error instruction and the error feedback value coincide.