Moving object feed-forward control method

A moving object feed-forward control method that is used for a positioning control that positions a moving object (5) among a plurality of control objects (2 to 5), and that computes a control input (U(z)) of a feed-forward control for the moving object (5) by inputting a position command (Rc(z)) to a digital filter that is configured from a finite impulse response filter (Nf(z)/Zn), the moving object feed-forward control method being characterized in that:

• a numerator polynomial expression (Nf(z)) of the finite impulse response filter (Nf(z)/Zn) includes a root of a denominator polynomial expression (D(z)) for a transfer function model in a discrete-time system of the control objects (2 to 5), and setting a coefficient (ak) of the numerator polynomial expression (Nf(z)) of the finite impulse response filter (Nf(z)/Zn) by making an evaluation function (J) that is a quadratic form of the coefficient (ak) as small as possible causes the moving object (5), after the position command (Rc(z)) arrives at a target position, to arrive at the target position in a number of steps that is a degree (n) of the finite impulse response filter (Nf(z)/Zn).