Patent ID: 8125864

Claim:
An information processing device comprising: correction coefficient holding means configured to hold a correction coefficient Kp which is a ratio between the position of an object of control at a start time of control operation, and a detection signal indicating the control result of said object of control, with a control system for controlling the operation of said object of control so as to direct the angle or position thereof toward a target value; initial value compensation matrix holding means configured to hold an initial value compensation matrix for performing compensation of the initial value of a control computing unit for computing control output for controlling said object of control from said detection signal based on the position and speed of said object of control; initial value generating means configured to correct the position and speed of said object of control at a start time of control operation with said correction coefficient, and employ the position and speed of said object of control after correction, and said initial value compensation matrix to generate an initial value compensation value for compensating the initial value of said control computing unit; and, wherein the correction coefficient Kp is determined using a formula K p = p max × sin - 1 ⁡ ( p s p max ) p s ; wherein Ps denotes a start position signal and Pmax denotes a maximum position signal.