Provided are a control device, a control method and a position command compensation method. The control device is suitable for a gantry-type positioning platform, and comprises the following elements. A forward coordinate convertor converts a position command from a first coordinate space to a second coordinate space to generate a transition position command. A group of position controllers convert the transition position command into a transition speed command. A first reverse coordinate convertor converts speed feedback of a pair of bearing motors and loading motors from a gantry-type positioning platform into a transition speed feedback. The transition speed feedback is compared with the transition speed command to generate a transition speed error. A group of speed controllers covert the transition speed error into a transition torque command. A second reverse coordinate convertor converts the transition torque command from the second coordinate space to the first coordinate space to generate a torque command to drive the pair of the bearing motors and the loading motors.