A target position output unit outputs stop target position information of a driven member which is driven by a motor. A speed detecting unit outputs movement speed data of the driven member in accordance with a pulse from an encoder which generates a pulse in response to a movement of the driven member. A movement distance arithmetic operation unit performs an estimative arithmetic operation of a movement distance of the driven member until stopping when the motor is caused to stop immediately, in accordance with the last and current movement speed data. A stop position arithmetic operation unit adds the movement distance calculated by the movement distance arithmetic operation unit to the current position information of the driven member, thereby obtaining estimated stop position information of the driven member. A motor control unit controls the motor in accordance with a comparison result between the stop target position information and the estimated stop position information.