Control device, control method, and control program

A control method of a control device for controlling an object, wherein the control device comprises:

• a processor configured to execute a plurality of tasks comprising a control task for performing real-time control of the object and a non-control task for performing related processing related to the real-time control;
• and a multitask execution part configured to cause the processor to execute the plurality of tasks in a sequence based on priorities associated with the respective plurality of tasks, and the control task is set to have a highest priority, the control method comprising:
• variably setting the priority of the non-control task, wherein
• the variably setting comprises:
• setting the priority of the non-control task to a first priority in response to an execution start condition of the non-control task being satisfied, and keeping the priority of the non-control task at the first priority while a period of time from an execution start of the non-control task is less than or equal to a first time period for executing the related processing in real time;
• and
• thereafter performing switching such that the priority of the non-control task decreases to a second priority, in response to the period of time from the execution start having exceeded the first time period.