A method of controlling feed axes of a machine tool configured to drive the feed axes each composed of a coarse motion mechanism (28, 30) and a micro-motion mechanism (40, 42) so as to move a tool and a workpiece relatively to each other, so as to machine the workpiece, the method comprising the steps of: reading and interpreting a machining program to generate move commands for each of the feed axes, the move commands including the amount of feed and feeding rate in each of the directions of each of the feed axes; generating position commands for each feed axis by performing an interpolation operation on the move commands generated for each feed axis; and, for each feed axis: passing the position commands through an acceleration / deceleration filter adapted to make acceleration continuous; obtaining the differences between the filtered position commands and position feedback output from a scale for measuring the coordinate position of the axis; generating velocity feedforward values and acceleration feedforward values based on the position commands from the acceleration / deceleration filter; driving the coarse motion mechanism based on the obtained differences and the generated velocity feedforward and acceleration feedforward values; generating position commands for the micro-motion mechanism based on the differences between the position commands before being passed through the acceleration / deceleration filter and the position commands after being passed through the acceleration / deceleration filter; and driving the micro-motion mechanism based on the differences between the position commands of the micro-motion mechanism and position feedback from a position sensor for the micro-motion mechanism. reading and interpreting a machining program to generate move commands for each of the feed axes, the move commands including the amount of feed and feeding rate in each of the directions of each of the feed axes; generating position commands for each feed axis by performing an interpolation operation on the move commands generated for each feed axis; and, for each feed axis: passing the position commands through an acceleration / deceleration filter adapted to make acceleration continuous; obtaining the differences between the filtered position commands and position feedback output from a scale for measuring the coordinate position of the axis; generating velocity feedforward values and acceleration feedforward values based on the position commands from the acceleration / deceleration filter; driving the coarse motion mechanism based on the obtained differences and the generated velocity feedforward and acceleration feedforward values; generating position commands for the micro-motion mechanism based on the differences between the position commands before being passed through the acceleration / deceleration filter and the position commands after being passed through the acceleration / deceleration filter; and driving the micro-motion mechanism based on the differences between the position commands of the micro-motion mechanism and position feedback from a position sensor for the micro-motion mechanism. passing the position commands through an acceleration / deceleration filter adapted to make acceleration continuous; obtaining the differences between the filtered position commands and position feedback output from a scale for measuring the coordinate position of the axis; generating velocity feedforward values and acceleration feedforward values based on the position commands from the acceleration / deceleration filter; driving the coarse motion mechanism based on the obtained differences and the generated velocity feedforward and acceleration feedforward values; generating position commands for the micro-motion mechanism based on the differences between the position commands before being passed through the acceleration / deceleration filter and the position commands after being passed through the acceleration / deceleration filter; and driving the micro-motion mechanism based on the differences between the position commands of the micro-motion mechanism and position feedback from a position sensor for the micro-motion mechanism.