The 62-year-old musician cites irreconcilable differences in papers filed Friday in Los Angeles Superior Court. He filed the documents under his real name, Stevland Morris.

Wonder and Millard were married Sept. 1, 2001. According to court documents, they separated in October 2009.

They have two sons, 10-year-old Kailand and 7-year-old Mandla. Wonder is seeking joint legal and physical custody of the two boys and agrees to pay spousal support to his former wife.