A control device, comprising: a first driving motor for driving a plant with a first torque through torque transfer means, placed on a driving side for driving the plant, characterized by further comprising: a second driving motor for driving the plant with a second torque, placed on a plant side; reference input generation means for generating a torque reference input value for driving the first and second driving motors; and resonance cancellation means (72, 20) for canceling out resonance by adjusting a ratio of the torque reference input value for the first and second driving motors, wherein the resonance cancellation means (72, 20) is configured to multiply the torque reference input value generated by the reference input generation means by a first gain including an inertia coefficient, a viscosity coefficient and a reduction ratio of the torque transfer means on the driving side and on the plant side to calculate the first driving torque of the first driving motor, and to multiply the torque reference input value by a second gain including the inertia coefficient, the viscosity coefficient and the reduction ratio of the torque transfer means on the driving side and on the plant side to calculate the second driving torque of the second driving motor. a first driving motor for driving a plant with a first torque through torque transfer means, placed on a driving side for driving the plant, characterized by further comprising: a second driving motor for driving the plant with a second torque, placed on a plant side; reference input generation means for generating a torque reference input value for driving the first and second driving motors; and resonance cancellation means (72, 20) for canceling out resonance by adjusting a ratio of the torque reference input value for the first and second driving motors, wherein the resonance cancellation means (72, 20) is configured to multiply the torque reference input value generated by the reference input generation means by a first gain including an inertia coefficient, a viscosity coefficient and a reduction ratio of the torque transfer means on the driving side and on the plant side to calculate the first driving torque of the first driving motor, and to multiply the torque reference input value by a second gain including the inertia coefficient, the viscosity coefficient and the reduction ratio of the torque transfer means on the driving side and on the plant side to calculate the second driving torque of the second driving motor. a second driving motor for driving the plant with a second torque, placed on a plant side; reference input generation means for generating a torque reference input value for driving the first and second driving motors; and resonance cancellation means (72, 20) for canceling out resonance by adjusting a ratio of the torque reference input value for the first and second driving motors, wherein the resonance cancellation means (72, 20) is configured to multiply the torque reference input value generated by the reference input generation means by a first gain including an inertia coefficient, a viscosity coefficient and a reduction ratio of the torque transfer means on the driving side and on the plant side to calculate the first driving torque of the first driving motor, and to multiply the torque reference input value by a second gain including the inertia coefficient, the viscosity coefficient and the reduction ratio of the torque transfer means on the driving side and on the plant side to calculate the second driving torque of the second driving motor.