The authors suggest a method to prevent missteps in the stopping process of a stepping motor on high-speed drive with a micrstep drive system. In this method, a simple compensator, which is a low-pass filter that modifies the reference angle in the stopping process, is added to the control system. The effectiveness of this method is demonstrated by the experiments. © 2009 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.