A motor controller which controls a servo motor for driving a machine, includes: a speed command unit which commands the speed of the machine; a speed detection unit which detects the speed of the servo motor; and a speed control unit which produces a torque command based on a speed command and a motor speed detected so as to control the speed of the servo motor, where the speed control unit includes a filter which approximates the inverse characteristic of a transmission characteristic from the servo motor to the machine, the filter has a transmission characteristic F(s) based on a frequency , a vibration damping coefficient and a cutoff frequency .sub.adj which are adjustment parameters and the frequency is adjusted so as to be equal to or more than an antiresonant frequency .sub.0 of the machine but less than a resonant frequency .sub.p.

A motor controller which controls a servo motor for driving a machine, includes: a speed command unit which commands the speed of the machine; a speed detection unit which detects the speed of the servo motor; and a speed control unit which produces a torque command based on a speed command and a motor speed detected so as to control the speed of the servo motor, where the speed control unit includes a filter which approximates the inverse characteristic of a transmission characteristic from the servo motor to the machine, the filter has a transmission characteristic F(s) based on a frequency , a vibration damping coefficient and a cutoff frequency .sub.adj which are adjustment parameters and the frequency is adjusted so as to be equal to or more than an antiresonant frequency .sub.0 of the machine but less than a resonant frequency .sub.p.

A position control device includes a position detector that detects a position of an object to be controlled; a target generator that outputs a target velocity and a target position of the object to be controlled; a first calculator that calculates a control amount for causing the object to be controlled to track the target position; a second calculator that calculates a control amount for controlling the velocity of the object to be controlled, to be at the target velocity; a control signal output unit that outputs a control signal according to a total control amount obtained by the first and the second calculators; and a storage unit that stores an attitudinal change correction amount. The second calculator acquires the attitudinal change correction amount stored in the storage unit, adds the attitudinal change correction amount to the control amount to correct the control amount, and outputs the corrected control amount.

The present disclosure provides a system and a method for controlling an operation of a manipulation system. The method comprises formulating an optimization problem based on a Stochastic Discrete-time Linear Complementarity Model (SDLCM) of a manipulation task, and a sample average approximation; solving the formulated optimization problem using an important-particle algorithm to compute an optimal state trajectory, an optimal feedforward control trajectory, an optimal complementarity variable trajectory, a state feedback gain, and a complementarity feedback gain; collecting, measurements indicative of a current state trajectory and a current complementarity variable trajectory; determining an online control input based on the optimal feedforward control trajectory, a deviation of the current state trajectory from the optimal state trajectory, a deviation of the current complementarity variable trajectory from the optimal complementarity variable trajectory, the state feedback gain, and the complementarity feedback gain; and controlling actuators of the manipulation system according to the online control input.