Positioning control apparatus

Abstract

A positioning control apparatus includes a position detector 102 which detects the position of a positioning object 101, a target position generator 103 which generates a target position signal based on an output from the position detector, and a driving unit 104 which drives the positioning object based on an output from the target position generator. The target position generator 103 includes a control unit which sets a temporary target position of the positioning object and performs the learning of a reference position of the positioning object. A control gain given to the driving unit includes a first control gain, which is valid until the positioning object reaches the set temporary target position, and a second control gain, which is smaller than the first control gain and which is valid after the time when the positioning object has reached the temporary target position until the reference position learning is completed.

Dependencies are inferred from the claim text.