Patent ID: 8274252

Claim:
A motor control apparatus comprising: a sub-controller configured to receive a first deviation, serving as the difference between a target command and a first control output from a control target, calculate a sub-compensation amount, and output the sub-compensation amount; a main controller configured to perform proportional control on the sum of the first deviation and the sub-compensation amount to obtain a first control command, perform proportional-integral control on a second deviation, serving as the difference between the first control command and a second control output from the control target, to obtain a second control command, and output the second control command to the control target; and a two-degree-of-freedom repetitive compensator including a positive feedback loop based on a total delay sampling number obtained by the sub-controller such that the cycle of the target command is divided by the control cycle of the sub-controller, wherein the two-degree-of-freedom repetitive compensator includes a forward delay placed in a forward route of the positive feedback loop and a feedback delay placed in a feedback route thereof and receives the first deviation and calculates and outputs a repetitive compensation amount.