Control device, control method, and control system

A control method controlling a control target, comprising:

• generating, by using a first measured value measured for the control target and a first command value that is a target value of the first measured value as inputs, a second command value;
• generating, by using a second measured value measured for the control target and the second command value as inputs, a target value supplied to the control target as a third command value;
• detecting a change in the second measured value caused by an external factor of the control target and changing a control mode;
• and
• generating a second correction value and correcting generation of the third command value in accordance with the control mode.

A control system including a DC motor and a control device controlling the DC motor, wherein the control device includes

• a first controller configured to, by using a first measured value that is a measured rotation speed of the DC motor and a first command value that is a target value of the first measured value as inputs, generate a target value of a current as a second command value,
• a second controller configured to, by using a second measured value that is a measured current value of the DC motor and the second command value as inputs, generate a target value of a voltage supplied to the DC motor as a third command value,
• a detector configured to detect a change in the second measured value caused by an external factor of the DC motor and to change a control mode, and
• a corrector configured to generate a second correction value and correct the second controller in accordance with the control mode.