A control method that performs position control of a control object while compensating for backlash in the control object, the control object being configured to move periodically, the control method comprising: a final position command signal (θ Fr (t)) generating step of generating a final position command signal (θ Fr (t)) by shifting a backlash quantity signal (θ B (t)) that compensates for the backlash and adding the shifted backlash quantity signal (θ BL (t)) to a position command signal (θ r (t)) indicating a position of the control object; a position control step of performing position control of the control object on the basis of the final position command signal (θ Fr (t)) generated in the final position command signal (θ Fr (t)) generating step, wherein the final position command signal (θ Fr (t)) generating step includes a position command signal (θ r (t)) generating step of generating the position command signal (θ r (t)); a control direction detecting step of detecting, on the basis of the position command signal (θ r (t)) generated in the position command signal (θ r (t)) generating step, a control direction for controlling the control object; a backlash quantity calculating step of generating, in accordance with the control direction detected in the control direction detecting step, a backlash quantity signal (θ B (t)) for compensating for the amount of backlash in the control object; a delay time calculating step of generating a backlash correction signal by delaying, by a predetermined delay time with respect to the position command signal (θ r (t)), the backlash quantity signal (θ B (t)) generated in the backlash quantity calculating step; a signal adding step of generating a final position command signal (θ Fr (t)) by adding the backlash correction signal generated in the delay time calculating step to the position command signal (θ r (t)), wherein the position control step controls the position of the control object on the basis of the final position command signal (θ Fr (t)) generated in the signal adding step, and wherein a length of time less than or equal to half a period of the position command signal (θ r (t)) formed by a periodic signal is set as the predetermined delay time used in the delay time calculating step. a final position command signal (θ Fr (t)) generating step of generating a final position command signal (θ Fr (t)) by shifting a backlash quantity signal (θ B (t)) that compensates for the backlash and adding the shifted backlash quantity signal (θ BL (t)) to a position command signal (θ r (t)) indicating a position of the control object; a position control step of performing position control of the control object on the basis of the final position command signal (θ Fr (t)) generated in the final position command signal (θ Fr (t)) generating step, wherein the final position command signal (θ Fr (t)) generating step includes a position command signal (θ r (t)) generating step of generating the position command signal (θ r (t)); a control direction detecting step of detecting, on the basis of the position command signal (θ r (t)) generated in the position command signal (θ r (t)) generating step, a control direction for controlling the control object; a backlash quantity calculating step of generating, in accordance with the control direction detected in the control direction detecting step, a backlash quantity signal (θ B (t)) for compensating for the amount of backlash in the control object; a delay time calculating step of generating a backlash correction signal by delaying, by a predetermined delay time with respect to the position command signal (θ r (t)), the backlash quantity signal (θ B (t)) generated in the backlash quantity calculating step; a signal adding step of generating a final position command signal (θ Fr (t)) by adding the backlash correction signal generated in the delay time calculating step to the position command signal (θ r (t)), wherein the position control step controls the position of the control object on the basis of the final position command signal (θ Fr (t)) generated in the signal adding step, and wherein a length of time less than or equal to half a period of the position command signal (θ r (t)) formed by a periodic signal is set as the predetermined delay time used in the delay time calculating step.