Control device and control method

A control device comprising:

• a first processor configured to acquire a synchronization signal that is generated every first period;
• and
• a second processor configured to generate a second period that is obtained by dividing the first period by n, wherein n≥1, generate a control signal, using a timer, every third period that is obtained by dividing the second period by m, wherein m≥2, and perform a predetermined process at a timing based on the control signal, wherein
• at least one of a plurality of control signals generated in the first period is a control signal that should be synchronous with the synchronization signal,
• in a case where occurrence of an error between timings of the synchronization signal and the control signal that should be synchronous with the synchronization signal is detected, the second processor corrects the error by temporarily changing a width of the timer that is to be started at next and later times, and
• an upper limit is provided to a width of one change of the timer, and the second processor changes a width of the timer over a plurality of third periods, in a case where the error exceeds the upper limit.