A cycle time of pulses converted from an electrical signal generated at a rotational sensor is counted. In determining a cycle of the pulses, either a rising edge or a falling edge of the pulse is selected. As the selection of the either edge affects accuracy of the rotational speed measurement, two modes are proposed. One is suitable for a lower speed range in which either of the rising and falling edges is selected for every pulse monitoring period considering the relative phase position of the pulse and the pulse monitoring period. The other is suitable for a higher speed range in which one fixed edge is utilized. Here the edge is selected depending on the winding direction of the electric wire of the pick-up coil of the rotational sensor and independent of the pulse monitoring period.