Patent ID: 7498760

Claim:
A drive control apparatus comprising: a feed-forward operation amount generation device that generates a feed-forward operation amount which corresponds to a target trajectory in order to drive a control target along the target trajectory; a feed-back operation amount generation device that compares a target value in accordance with the target trajectory and an actual movement amount of the control target, and generates a feed-back operation amount as an operation amount corresponding to an error between the target value and the actual movement amount so as to minimize the error; a feed-forward correction amount generation device that generates a feed-forward correction amount for correcting the feed-forward operation amount so as to minimize the error between the target value and the actual movement amount; and a feed-forward operation amount correction device that corrects the feed-forward operation amount by adding the feed-forward correction amount to the feed-forward operation amount, wherein the drive control apparatus is configured to input an input operation amount, which is obtained by adding the feed-back operation amount to the feed-forward operation amount corrected by the feed-forward operation amount correction device, into the control target thereby to drive the control target.