Abstract: A throttle valve controller includes a motor, a throttle valve driven by the motor, an accelerator sensor for setting a target position of the throttle valve, a throttle sensor for detecting the actual position of the throttle valve, a position control circuit for controlling the motor in accordance with a difference between the target position and the actual position of the throttle valve, a friction compensating circuit for compensating a positional error due to friction force affecting the throttle valve, and a driver for driving the motor with repetition of a control period in accordance with the position control circuit and the friction compensating circuit. The friction compensating circuit may compensate the positional error due to friction force during a control period together with the position control circuit. The motor may generate compensated torque in accordance with the friction force that affects the throttle valve.