RECORDING AND REPRODUCING DEVICE

摘要

PROBLEM TO BE SOLVED: To attain settling response characteristic after switching from a speed controller to a position controller and to reduce access time by reducing the variation of a time until switching from the speed controller to the position controller to stabilize a time for moving. SOLUTION: A position controller 70 generates the driving signal 22 of the linear function of time so as to respond by the cubic function of time where a positional deviation signal becomes zero in a desired finite settling time. Further a feedforward signal generator 73 is provided in order to reduce a following error with respect to a target position signal outputted by a target position signal generator 72. In addition, a switch judging device 51 starting judging switching after the position deviation signal becomes prescribed position deviation and switching from the speed controller 41 to the position controller 70 at the time when the position deviation signal becomes equal to or lower than a value obtained by proportionally multiplying a speed signal is provided.