A control device connected to a servo mechanism (200, 300) configured to drive a controlled object, and configured to output a manipulated variable to the servo mechanism (200, 300) so that a controlled variable for the controlled object tracks a target trajectory, wherein the servo mechanism (200, 300) includes a servomotor configured to move the controlled object, and a servo driver configured to drive the servomotor, the control device comprising: an acquisition unit configured to acquire a measured value from a measurement sensor configured to measure a position of the controlled object, the measurement sensor being capable of measuring the position of the controlled object in a predetermined range including a stationary position of the controlled object; and a control unit (102, 150) configured to perform model predictive control for each control period using a dynamics model representing a relationship between the manipulated variable and the position of the controlled object to generate the manipulated variable to be output to the servo mechanism (200, 300), wherein the dynamics model includes a first dynamics model representing a relationship between the manipulated variable and a position of the servomotor, and a second dynamics model representing a relationship between the position of the servomotor and the position of the controlled object, and the second dynamics model is generated using a waveform parameter obtained from a vibration waveform of the controlled object, the waveform parameter including at least a vibration frequency, the control unit (102, 150) being configured to perform model predictive control in a first mode using the measured value as the controlled variable for a current control period when the controlled object has a position within the predetermined range, and perform model predictive control in a second mode using an output value of the dynamics model as the controlled variable for the current control period when the controlled object has a position outside the predetermined range. wherein the servo mechanism (200, 300) includes a servomotor configured to move the controlled object, and a servo driver configured to drive the servomotor, the control device comprising: an acquisition unit configured to acquire a measured value from a measurement sensor configured to measure a position of the controlled object, the measurement sensor being capable of measuring the position of the controlled object in a predetermined range including a stationary position of the controlled object; and a control unit (102, 150) configured to perform model predictive control for each control period using a dynamics model representing a relationship between the manipulated variable and the position of the controlled object to generate the manipulated variable to be output to the servo mechanism (200, 300), wherein the dynamics model includes a first dynamics model representing a relationship between the manipulated variable and a position of the servomotor, and a second dynamics model representing a relationship between the position of the servomotor and the position of the controlled object, and the second dynamics model is generated using a waveform parameter obtained from a vibration waveform of the controlled object, the waveform parameter including at least a vibration frequency, the control unit (102, 150) being configured to perform model predictive control in a first mode using the measured value as the controlled variable for a current control period when the controlled object has a position within the predetermined range, and perform model predictive control in a second mode using an output value of the dynamics model as the controlled variable for the current control period when the controlled object has a position outside the predetermined range. an acquisition unit configured to acquire a measured value from a measurement sensor configured to measure a position of the controlled object, the measurement sensor being capable of measuring the position of the controlled object in a predetermined range including a stationary position of the controlled object; and a control unit (102, 150) configured to perform model predictive control for each control period using a dynamics model representing a relationship between the manipulated variable and the position of the controlled object to generate the manipulated variable to be output to the servo mechanism (200, 300), wherein the dynamics model includes a first dynamics model representing a relationship between the manipulated variable and a position of the servomotor, and a second dynamics model representing a relationship between the position of the servomotor and the position of the controlled object, and the second dynamics model is generated using a waveform parameter obtained from a vibration waveform of the controlled object, the waveform parameter including at least a vibration frequency, the control unit (102, 150) being configured to perform model predictive control in a first mode using the measured value as the controlled variable for a current control period when the controlled object has a position within the predetermined range, and perform model predictive control in a second mode using an output value of the dynamics model as the controlled variable for the current control period when the controlled object has a position outside the predetermined range.