Control device, model creation method, and control program

A control device connected to a servo driver configured to drive a servomotor configured to move a controlled object, and configured to output a manipulated variable to the servo driver to control a position of the controlled object, the control device comprising:

• a processor;
• and
• a memory storing instructions that, when executed by the processor, cause the processor to at least:
• perform model predictive control for each control period using a dynamics model representing a relationship between the manipulated variable and a position of the controlled object to generate the manipulated variable to be output to the servo driver,
• the dynamics model including a first dynamics model representing a relationship between the manipulated variable and a position of the servomotor, and a second dynamics model representing a relationship between the position of the servomotor and the position of the controlled object,
• the second dynamics model being created using a waveform parameter extracted from a vibration waveform of the controlled object,
• the waveform parameter including a vibration frequency.