| 摘要 |
A feedback controller performs a feedback control based on an error between a target position and an actual position of a head. A model controller obtains a control command, a model position to be output as a command for the target position to the feedback controller, and a model velocity for the head to follow a target velocity, by using a preset control equation model, and obtains the control command and the model position with the target position as an input, based on a differential value of the target velocity corresponding to a remaining distance from the model position to the target position.
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