A crane in which an actuator (8,12) is controlled based on a target speed signal relating to a moving direction and a speed of a load suspended from a boom by a wire rope (14,16), the crane comprising: a manipulation tool (18,19,20,21m,21s) with which the speed and the moving direction of the load for the target speed signal are input; a swivel angle detection section for the boom; a luffing angle detection section for the boom; an extension/retraction length detection section for the boom; a load position detection section that detects a current position of the load relative to a reference position; and a control apparatus including a feedback control section that computes a target course signal for the load from the target speed signal by integration and corrects the target course signal based on a difference of the current position of the load from the target course signal, and a feedforward control section that adjusts a weight coefficient of a transfer function representing a characteristic of the crane based on the corrected target course signal, wherein the control apparatus obtains the current position of the load relative to the reference position from the load position detection section, and corrects the target course signal corrected by the feedback control section, using the transfer function with the weight coefficient adjusted by the feedforward control section, computes a current position of a tip of the boom relative to the reference position from a swivel angle detected by the swivel angle detection section, a luffing angle detected by the luffing angle detection section and an extension/retraction length detected by the extension/retraction length detection section, computes a let-out amount of the wire rope (14,16) from the current position of the load and the current position of the tip of the boom, computes a direction vector of the wire rope (14,16) from the current position of the load and a target position of the load, computes a target position of the tip of the boom for the target position of the load from the let-out amount of the wire rope (14,16) and the direction vector of the wire rope (14,16), and generates an operation signal for the actuator (8,12) based on the target position of the tip of the boom. a manipulation tool (18,19,20,21m,21s) with which the speed and the moving direction of the load for the target speed signal are input; a swivel angle detection section for the boom; a luffing angle detection section for the boom; an extension/retraction length detection section for the boom; a load position detection section that detects a current position of the load relative to a reference position; and a control apparatus including a feedback control section that computes a target course signal for the load from the target speed signal by integration and corrects the target course signal based on a difference of the current position of the load from the target course signal, and a feedforward control section that adjusts a weight coefficient of a transfer function representing a characteristic of the crane based on the corrected target course signal, wherein the control apparatus obtains the current position of the load relative to the reference position from the load position detection section, and corrects the target course signal corrected by the feedback control section, using the transfer function with the weight coefficient adjusted by the feedforward control section, computes a current position of a tip of the boom relative to the reference position from a swivel angle detected by the swivel angle detection section, a luffing angle detected by the luffing angle detection section and an extension/retraction length detected by the extension/retraction length detection section, computes a let-out amount of the wire rope (14,16) from the current position of the load and the current position of the tip of the boom, computes a direction vector of the wire rope (14,16) from the current position of the load and a target position of the load, computes a target position of the tip of the boom for the target position of the load from the let-out amount of the wire rope (14,16) and the direction vector of the wire rope (14,16), and generates an operation signal for the actuator (8,12) based on the target position of the tip of the boom.