Control parameter adjustment device

A control parameter adjustment device comprising:

• a hardware processor;
• and
• a non-transitory computer readable recording medium storing a program which, when executed by the hardware processor, causes the control parameter adjustment device to:
• generate a position command;
• calculate a drive command such that a response position of a driven object follows the position command;
• generate, by using a model expressed by two or more different types of parameters, a correction command for correcting a response error that is a difference between the position command and the response position;
• correct the model by using a combination of values of the parameters by which the response error is equal to or less than an allowable value, the combination of the values of the parameters being from among a plurality of combinations of the values of the parameters;
• drive the driven object in accordance with the drive command and the correction command;
• and
• receive a feedback signal indicative of the response position of the driven object from the driven object as the two or more different types of parameters are sequentially changed, and select the combination of the values of the parameters by which the response error is equal to or less than the allowable value based on the feedback signal, to thereby correct the model.