Patent ID: 8068307

Claim:
A position control apparatus configured to perform position control on an object with the use of an actuator in accordance with a position of the object, comprising: a digital control module configured to perform position control including disturbance adaptive control with a predetermined sampling period with the use of a control constant, in accordance with a position error between a target position and a current position of the object; and a table configured to store the control constant corresponding to a value of sin(ωT/2), with ω representing an angular frequency of a disturbance, T representing the sampling period, wherein the digital control module determines a control value of the actuator in accordance with the position error, calculates the value of sin(ωT/2) according to an adaptive law from a signal based on the position error, reads the corresponding control constant from the table in accordance with the calculated value of sin(ωT/2), and updates the control constant, to perform the position control including the disturbance adaptive control.