Provided is a controller of a robot manipulator, a performance analysis method thereof and a parameter determination method thereof. The controller computes an error value of an output value of a control target for a target value through a computational equation and provides a control input value of the control target, and includes an outer loop controller which constitutes closed loop control of the control target, and an inner loop controller which performs feedback linearization to remove nonlinearity of the control target, wherein the computational equation is a linear differential equation designed considering exogenous disturbance acting in the controller and a computational error.