This invention provides an acceleration control apparatus suitable for use as various kinds of feed control. A comparator circuit compares a command value supplied from an acceleration commanding unit and an actual value of acceleration detected by a signal generator connected to a motor to be controlled. A voltage command computing circuit provided at a rear stage of the comparator circuit effect predetermined processing of an acceleration deviation signal on the basis of the result of this comparison to output the resultant command voltage to a driving control circuit. This command voltage is output to the motor and thus acceleration of the motor is controlled.