Patent ID: 7847503

Claim:
A control apparatus for controlling a control subject comprising a drive shaft, an output shaft, a drive source for driving the drive shaft, and a drive force transmitting tool for transmitting a drive force from the drive shaft to the output shaft, comprising: a memory configured to store data regarding an interference matrix representing a relationship between a position of the output shaft and a position of the drive shaft; a position compensation calculator configured to calculate position compensation for the drive shaft by using the data based on a target position of the output shaft and a detected position of the output shaft; a torque compensation calculator configured to calculate torque compensation for the drive shaft by using the data based on the detected position of the output shaft and a detected position of the drive shaft; a command value calculation unit configured to calculate a command value based on the position compensation and the torque compensation; and an output unit configured to output a signal to the drive source based on the command value.