Motor controller and motor control method for shortening adjustment time for adjusting a motor control command to control a motor

A motor controller comprising:

• drive control circuitry to drive a motor on a basis of a control command, operate a control target including the motor and a mechanical load mechanically connected to the motor, and perform an initialization operation of setting the control target in an initial state and an evaluation operation starting from the initial state;
• learning circuitry to learn the control command used in the evaluation operation and a state sensor signal in association with each other, the state sensor signal having detected a state of the control target at a time of the evaluation operation including at least one of position, velocity, and acceleration of the control target, to provide a result of learning including a reward calculated from the state sensor signal, the reward depending upon a period of time from a start of the evaluation operation until a deviation between a position of the motor when the motor is operated in the evaluation operation and a target travel distance for the motor falls within an allowable range, the reward increasing with a decrease in the period of time, and to determine, on the basis of a result of the learning including the calculated reward, the control command to be used in the evaluation operation to be performed after the evaluation operation in which the state sensor signal has been acquired;
• and
• adjustment management circuitry to determine, on the basis of a timing at which to perform a first process, a timing at which to perform a second process, the first process being one of a learning operation, the initialization operation, and the evaluation operation, the learning operation being an operation of the learning circuitry, the second process being one of the learning operation, the initialization operation, and the evaluation operation.