PURPOSE:To simply generate a part corresponding to a subsystem of the learning type feedforward controller in a multi-input/output system. CONSTITUTION:The learning type feedforward controller 12 generates an input signal with respect to a feedback control system obtaining a deviation between an object value and an observed value of a controlled system 15 to control the controlled system and with respect to said controlled system. The learning type feedforward controller 12 executes the processing based on a linear state equation 'X'AX+Bv, y'CX' of the controlled system having an input v, state X and output y. Then the learning type feedforward controller 12 is made up of a matrix 16 obtaining the state X from an object value, a differentiation circuit 17 differentiating the state X to obtain the X', a multiplier 18 multiplying a product between the state X and a coefficient A, a subtractor 19 subtracting the AX from the differentiation value X' to obtain the Bv, and a neural network 20 multiplying a B-1 obtained through learning with the Bv to obtain the input v to the controlled system 15.
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