A control system comprising: an image processing section configured to obtain image data obtained by imaging an object provided with a characteristic part (12, 14) for positioning and specify a position of the characteristic part (12, 14) comprised in the image data; and a control section configured to position the object to a predetermined final target position by giving a control instruction based on the specified position of the characteristic part (12, 14) to a moving mechanism which changes the position of the object, wherein the control system executes a first control operation, and then executes a second control operation, in the first control operation, the image processing section obtains the image data and specifies the position of the characteristic part (12, 14), the control section determines a control instruction for accelerating the object to a predetermined first speed based on the specified position of the characteristic part (12, 14) and then decelerating the object to a predetermined second speed lower than the first speed, to move the object to an intermediate target position away from the final target position by a predetermined margin distance, in the second control operation, the image processing section obtains the image data during movement of the moving mechanism and specifies the position of the characteristic part (12, 14), and the control section determines a control instruction for positioning the object to the final target position based on the specified position of the characteristic part (12, 14), characterized in that the second speed is determined such as to simultaneously satisfy Vns _ max ≤ α × f and Vns _ max ≤ 2 ⁢ R / 3 ⁢ f, wherein Vns_max denotes a maximum value for the second speed, α is a maximum allowable acceleration of the object, f is a period of one control cycle in the second control operation and R is a required positioning accuracy of the object, and the margin distance is determined as a sum of a first distance and a second distance, the first distance being an experimentally determined error value occurring in a movement of the moving mechanism and the second distance being a theoretical value given by d = Vns _ max × f + Vns _ max 2 / 2 ⁢ α, which is a movement amount of the moving mechanism during a period f in which the moving mechanism is moved at the second speed after the image processing section obtains image data and until the image processing section specifies the position of the characteristic part (12, 14), and until the moving mechanism is decelerated from the second speed at the allowable maximum acceleration α to be stopped. an image processing section configured to obtain image data obtained by imaging an object provided with a characteristic part (12, 14) for positioning and specify a position of the characteristic part (12, 14) comprised in the image data; and a control section configured to position the object to a predetermined final target position by giving a control instruction based on the specified position of the characteristic part (12, 14) to a moving mechanism which changes the position of the object, wherein the control system executes a first control operation, and then executes a second control operation, in the first control operation, the image processing section obtains the image data and specifies the position of the characteristic part (12, 14), the control section determines a control instruction for accelerating the object to a predetermined first speed based on the specified position of the characteristic part (12, 14) and then decelerating the object to a predetermined second speed lower than the first speed, to move the object to an intermediate target position away from the final target position by a predetermined margin distance, in the second control operation, the image processing section obtains the image data during movement of the moving mechanism and specifies the position of the characteristic part (12, 14), and the control section determines a control instruction for positioning the object to the final target position based on the specified position of the characteristic part (12, 14), characterized in that the second speed is determined such as to simultaneously satisfy Vns _ max ≤ α × f and Vns _ max ≤ 2 ⁢ R / 3 ⁢ f, wherein Vns_max denotes a maximum value for the second speed, α is a maximum allowable acceleration of the object, f is a period of one control cycle in the second control operation and R is a required positioning accuracy of the object, and the margin distance is determined as a sum of a first distance and a second distance, the first distance being an experimentally determined error value occurring in a movement of the moving mechanism and the second distance being a theoretical value given by d = Vns _ max × f + Vns _ max 2 / 2 ⁢ α, which is a movement amount of the moving mechanism during a period f in which the moving mechanism is moved at the second speed after the image processing section obtains image data and until the image processing section specifies the position of the characteristic part (12, 14), and until the moving mechanism is decelerated from the second speed at the allowable maximum acceleration α to be stopped.