Patent ID: 7292927

Claim:
A control system comprising: a movable mechanism that has a restricting part, and a movable part that is brought into contact with said restricting part to be thereby limited in a movable range, said movable mechanism being operable to vary a control amount within a predetermined control range, by driving said movable part within the movable range; position detecting means for detecting a position of said movable part; control amount-calculating means for calculating the control amount according to the detected position of said movable part; target control amount-setting means for setting a target control amount as a target to which the control amount is to be controlled; and control input-calculating means for calculating a control input for controlling said movable mechanism with a predetermined control algorithm such that the control amount follows up the target control amount, wherein the predetermined control algorithm includes a disturbance suppressing parameter for suppressing influence of disturbance applied to said movable mechanism, and wherein said control input-calculating means has disturbance suppressing parameter-setting means for setting the disturbance suppressing parameter such that a degree of suppression of the influence of disturbance by the disturbance suppressing parameter becomes smaller, when one of the control amount and the target control amount is toward a limit value of the predetermined control range with respect to a predetermined value close to the limit value, or when the detected position of said movable part is toward a limit of the movable range with respect to a predetermined position close to the limit, than otherwise.