Control device and control program

A non-transitory computer-readable storage medium storing a control program configured to implement a control device connected to a servo mechanism configured to drive a controlled object, and configured to output a manipulated variable to the servo mechanism so that a controlled variable for the controlled object tracks a target value,

• the control program causing a computer to perform
• acquiring a measured value from a measurement sensor configured to measure a position of the controlled object;
• and
• performing model predictive control for each control period using a dynamics model representing a relationship between the manipulated variable and the position of the controlled object to generate the manipulated variable to be output to the servo mechanism,
• the measurement sensor being capable of measuring the position of the controlled object in a predetermined range including a stationary position of the controlled object,
• the performing model predictive control including
• performing model predictive control in a first mode using the measured value as the controlled variable for a current control period when the controlled object has a position within the predetermined range, and
• performing model predictive control in a second mode using an output value of the dynamics model as the controlled variable for the current control period when the controlled object has a position outside the predetermined range.