PURPOSE:To improve responsiveness, by obtaining feedback signals varying in a straight line by the sawtooth waveform voltage in accordance with the rotating speed and the staircase waveform voltage in accordance with the position deviation. CONSTITUTION:An up-down counter 72 inputs rotation command pulse and positioning pulse, gives data to a D/A converter 46 and outputs staircase waveform voltage 62. On the other hand, the output signals A and B of an encoder 2 and its inversion signals -A and -B are converted into sawtooth waveform voltage 62 by a multiplexer 26. In addition, they are converted into speed voltage signals by differentiation circuits 28, 30, 32 and 34, the multiplexer 26, and an integration circuit 48. Furthermore, the pulse signals of comparators 14 and 16 are converted into a pulse having directivity by a circuit 70 and supplied to the up-down counter 72. The responsiveness can thereby be improved.
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