Motor controller and motor control system

A motor controller to control an object to be driven, switching between position control over the object and non-position control that is a control mode different from the position control, the motor controller comprising circuitry configured as:

• a position command generator to generate a position command that is a command for the position control;
• a reference model determiner to filter the position command with a filter, to determine a model position indicating a position corresponding to the filtered position command;
• a velocity controller to determine, during the position control, a first torque command to drive the object, using a signal calculated based on the model position and a detected position that is a position detected on the object;
• a model initial value setter to set a model position initial value, based on the detected position at a time of switching from the non-position control to the position control, the model position initial value being a signal used to calculate the model position at the time of switching;
• and
• a position command initial value setter to set a position command initial value, based on velocity information, the detected position at the time of switching, and a transfer characteristic, the velocity information being a signal related to a velocity of the object at the time of switching, the transfer characteristic being a characteristic of a transfer function of the filter, wherein
• the position command generator generates the position command at the time of switching, based on the position command initial value.