A motor controller according to the present invention includes a position command unit for commanding the position of a driven unit, a compensation filter unit for compensating a position command, and a servo control unit for controlling the operation of a servomotor based on a compensated position command. The compensation filter unit includes an inverse characteristic filter for approximating an inverse characteristic of a transfer characteristic from a motor position to a mechanical position, and a high frequency cutoff filter for reducing a high frequency component of the position command. The inverse characteristic filter is a filter for reducing a gain at a mechanical resonance frequency ω.sub.0. The high frequency cutoff filter has a constant “a” times high frequency cutoff frequency aω.sub.0 using a constant “a” of 1 or more, with respect to the mechanical resonance frequency ω.sub.0 determined in the inverse characteristic filter.