Provided is a control apparatus outputting commands for respective axes of a machine having a redundant degree of freedom includes: a machine learning device that learns the commands for the respective axes of the machine. The machine learning device has a state observation section that observes, as state variables expressing a current state of an environment, data indicating movements of the respective axes of the machine or an execution state of a program, a determination data acquisition section that acquires determination data indicating an appropriateness determination result of a processing result, and a learning section that learns the movements of the respective axes of the machine or the execution state of the program and the commands for the respective axes of the machine, which are associated with one another, by using the state variables and the determination data.