An electronic cam using a servo motor is controlled such that its motion including its acceleration will be connected between synchronized and non-synchronized control sections. A controlled object is moved at a fixed speed during the synchronized control section. A fifth-order function for position control of the electronic cam, a fourth-order function for speed control of the electronic cam and a third-order function for acceleration control of the electronic cam are used in the non-synchronized control section such that operation of the electronic cam at transition points between the synchronized control section and the non-synchronized control section is smoothly controlled.