| 摘要 |
A two degree of freedom position control method, a two degree of freedom position control device, and a medium storage device are provided to execute position control having high precision by preventing output delay. The position error(y(n)) is calculated from target position and current position of an object. The estimation position of a current sample is corrected by estimation position error between the position error and the estimation position of the current sample. Difference between the corrected estimation position and a target orbit of the current sample is calculated and then an estimation position, which is progressed from the difference and an output value from a previous sample, is calculated. An output value(u(n)) to an actuator is calculated based on the progressed estimation position. The corrected estimation position, an output value of the current sample, and the output value from the previous sample are calculated.
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