The invention provides motor controller capable of improving instruction traceability; the motor controller (100) comprises the following elements: a differentiator differentialing externally inputted speed instruction; a torque feedforward portion (112) used for generating a first torque indication for the feedforward system according to the differential speed instruction; a speed control portion (114) used for generating a second torque indication according to deviation between the externally inputted speed indication and the speed feedback; a torque indication filter (116) used for preventing machinery resonance and encoder quantization wave of the second torque indication; an addition operation point used for carrying out addition operation for the first torque indication and the second torque indication outputted from the torque indication filter (116), thus generating a third torque indication; a torque control portion (118) using the third torque indication to control the motor motions.