A control device for a drive device including a first and a second actuator (5, 7), a driven body that is driven by the actuators (5, 7), and a power transmission mechanism that transmits the driving forces of the actuators (5, 7) to the driven body such that the driven body is driven by an amount equivalent to the total of the drive amounts of the actuators (5, 7), the control device comprising: a first multiplier arranged to output a value, which is obtained by multiplying a generated total drive command value by a first gain G 1, as a first drive command value; a second multiplier arranged to output a value, which is obtained by multiplying the total drive command value by a second gain G 2, as a second drive command value; a first controller arranged to control the first actuator on the basis of the first drive command value; a second controller arranged to control the second actuator on the basis of the second drive command value; a gain calculator arranged to calculate the gains G 1 and G 2; a first drive amount detector arranged to detect the drive amount of the first actuator and to output a value E f1 indicating the detection value to the gain calculator; a second drive amount detector arranged to detect the drive amount of the second actuator and to output a value E f2 indicating the detection value to the gain calculator; and a total drive amount detector arranged to detect the drive amount of the driven body and to output a value E f indicating the detection value to the gain calculator, wherein the gain calculator is arranged to calculate the first gain G 1 according to a first gain calculation formula using E f1 and E f as variables and to calculate the second gain G 2 according to a second gain calculation formula using E f2 and E f as variables, the first and second gain calculation formulae are set such that the first and the second gains G 1 and G 2 become 1/2 regardless of the values of the variables while the drive device is normal, E f changes within a range from zero to an upper limit value L max, characterised in that the gain calculator is arranged to bring the first gain G 1 close to (E f1 - L max /2)/(E f - L max) and to bring the second gain G 2 close to (E f2 - L max /2)/(E f - L max) in the case where E f1, E f2, or E f approaches zero. a first multiplier arranged to output a value, which is obtained by multiplying a generated total drive command value by a first gain G 1, as a first drive command value; a second multiplier arranged to output a value, which is obtained by multiplying the total drive command value by a second gain G 2, as a second drive command value; a first controller arranged to control the first actuator on the basis of the first drive command value; a second controller arranged to control the second actuator on the basis of the second drive command value; a gain calculator arranged to calculate the gains G 1 and G 2; a first drive amount detector arranged to detect the drive amount of the first actuator and to output a value E f1 indicating the detection value to the gain calculator; a second drive amount detector arranged to detect the drive amount of the second actuator and to output a value E f2 indicating the detection value to the gain calculator; and a total drive amount detector arranged to detect the drive amount of the driven body and to output a value E f indicating the detection value to the gain calculator, wherein the gain calculator is arranged to calculate the first gain G 1 according to a first gain calculation formula using E f1 and E f as variables and to calculate the second gain G 2 according to a second gain calculation formula using E f2 and E f as variables, the first and second gain calculation formulae are set such that the first and the second gains G 1 and G 2 become 1/2 regardless of the values of the variables while the drive device is normal, E f changes within a range from zero to an upper limit value L max, characterised in that the gain calculator is arranged to bring the first gain G 1 close to (E f1 - L max /2)/(E f - L max) and to bring the second gain G 2 close to (E f2 - L max /2)/(E f - L max) in the case where E f1, E f2, or E f approaches zero.