Control system and image forming system

An image forming system comprising:

• a recording head;
• a carriage on which the recording head is mounted;
• a motor;
• a conveyor driven by the motor and configured to convey the carriage;
• a detector configured to detect a parameter from which a position, a velocity and an acceleration of the carriage are specifiable;
• a driving circuit configured to input a voltage corresponding to a voltage command value to the motor;
• and
• a controller configured to execute:
• inputting, to the driving circuit, a first voltage command value corresponding to a deviation between a target velocity and the velocity of the carriage which is specified from the parameter detected by the detector, until a predetermined time during a process in which the carriage is moving to the target stop position;
• after the predetermined time, switching from the inputting the first voltage command value to the driving circuit to the inputting a second voltage command value to the driving circuit, the second voltage command value corresponding to a deviation between a target position and the position of the carriage which is specified from the parameter detected by the detector, and the second voltage command value being in accordance with a transfer function including an integral element;
• setting a target position trajectory of the carriage up to the target stop position based on the parameter detected by the detector;
• setting an initial value of the integral element based on an initial target velocity and an initial target acceleration of the carriage in accordance with the target position trajectory
• inputting the second voltage command value to the driving circuit
• wherein the predetermined time is a time after a deceleration of the carriage to stop the carriage at the target stop position has been started.