A feedback gain and a speed feed-forward gain are adjusted. A method for adjusting control parameters for a control device that performs servo control on a control target includes calculating an upper limit of a feedback gain of a feedback signal within a range in which a predetermined index for the feedback gain satisfies a predetermined target value with a speed feed-forward gain for speed feed-forward control set at a predetermined reference value, setting the feedback gain at an adjustment initial value lower than the upper limit, setting the speed feed-forward gain at the highest value within a settable range, and increasing the feedback gain from the adjustment initial value within a range in which the feedback gain does not exceed the upper limit with at least the speed feed-forward gain set at a predetermined increased value.