| 摘要 |
A control apparatus executes feedback control on an endless belt driven in a condition having a periodic disturbance to compensate an influence of the periodic disturbance. Detecting that a disturbance other than the periodic disturbance is added to the belt during the feedback control, the control apparatus obtains phase angles of the periodic disturbance on the timing when the other disturbance is added. Then, the based on the phase angles of the periodic disturbance thus obtained, the control apparatus obtains interpolation coefficients that respectively interpolate values of feedforward inputs in the case when the other disturbance is added at the time when the phase angles of the periodic disturbance stored in a memory are a plurality of typical angles, and adds values obtained by adding values obtained by multiplying the interpolation coefficients respectively by the feedforward inputs to a control value of feedback control as a correction value. |
