The present invention 2 in the position control device based on current observer control for the degree of freedom control (two degree of freedom control), using the fixed-point processor (fixed point processor) will be a challenge to improve the calculation accuracy. ; For the input which are, the target position trajectory and the position error of the two degree of freedom using the observer is also a control system (26), and using the value A relative to the reference trajectory as a reference, the state variables of the observer, so as to maintain the relative distance from the reference position . As compared with a case for holding the absolute distance, a range where the value is changed becomes small, even if a fixed point method, it is possible to increase the number of significant digits of the decimal point, it is possible to improve calculation accuracy. Therefore, the control current in the acceleration section is smooth, it is possible to prevent the generation of resonance and noise, in the constant speed section or the deceleration section, it is possible to prevent the generation of residual vibration can shorten the seek time. ; Two degree of freedom control, the precision, the position control, the actuator
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