A control device includes: a controller that outputs control, signals pertaining to at least two directions, respectively, based on predetermined gains in a normal operation mode, and outputs control signals based on gains set with respect to the two directions, respectively, in a learning operation mode; a controlled amount calculating unit that receives the control signals and outputs signals pertaining to drive parameters with respect to at least two motors, respectively, wherein the controlled amount calculating unit includes: a characteristic difference calculating unit that calculates characteristic differences between at least the two motors based on the control signals; and a gain compensator that corrects controlled amount pertaining to drive parameters of at least the two motors according to the calculated characteristic differences of at least the two motors, and outputs the signals.