Patent ID: 8378615

Claim:
A motor controller having a control system for feedback-controlling a moving operation of a motor moving section through use of a detected moving amount of the motor moving section, the motor controller comprising: a plurality of notch filters which are arranged inside the control system and attenuate signal components having near frequencies with a notch frequency at a center in an input signal; a plurality of oscillation extracting filters which are set with different frequency bands as being corresponded to the respective notch filters and extract oscillating components from the moving amount based upon the set frequency bands; and a plurality of notch controlling sections which are arranged with respect to the respective oscillation extracting filters and control the notch frequencies of the corresponding notch filters so as to decrease amplitudes of the oscillating components extracted by the oscillation extracting filter; wherein at least one of the oscillation extracting filters which allow passage of a signal inside said different frequency bands; and at least one of the oscillation extracting filters which blocks passage of said signal, the motor controller further comprising: an oscillating extracting filter controlling section which controls each of the oscillation extracting filters, wherein when one of the oscillation extracting filters extracts an oscillating component, the oscillation extracting filter controlling section changes the at least one of the oscillation extracting filters which blocks passage of said signal, to have a frequency characteristic of taking a pass frequency band of each of the oscillation extracting filters which allow passage of said signal inside the frequency bands as a stop frequency band, and allowing passage of a signal outside the stop frequency band.