Control device

A measurement device configured to measure a frequency response of a servo system, the measurement device comprising:

• an oscillation executor configured to apply, to the servo system, predetermined oscillation in which an oscillation application time and an excitation frequency are associated with each other;
• an identifier configured to identify, from a result of oscillation applied by the oscillation executor, a pair of a first oscillation application signal corresponding to a first range that is a frequency range including a resonance frequency of the servo system and not including an anti-resonance frequency of the servo system and a first response signal temporally corresponding to the first oscillation application signal, and further identify a pair of a second oscillation application signal corresponding to a second range that is a frequency range lower than the first range and includes the anti-resonance frequency and a second response signal temporally corresponding to the second oscillation application signal;
• a calculator configured to calculate a first frequency response that is a frequency response corresponding to the first range based on the first oscillation application signal and the first response signal, and calculate a second frequency response that is a frequency response corresponding to the second range based on the second oscillation application signal and the second response signal;
• and
• a synthesizer configured to synthesize frequency responses in frequency ranges corresponding to the first range and the second range based on the first frequency response and the second frequency response.