Position control apparatus, position control method, optical apparatus, and imaging apparatus

A position control method to be executed by a position control apparatus, the method comprising:

• calculating a control amount for causing a control target to follow a target position in response to a detected position of the control target;
• calculating a disturbance cancellation control amount corresponding to an amount of movement of the control target;
• controlling the control target in response to the calculated control amount or a total control amount obtained by adding the control amount to the disturbance cancellation control amount;
• and
• storing an attitude difference correction amount which is a control amount for maintaining a stopped state if the control target is in the stopped state,
• wherein the disturbance cancellation control amount is a control amount which corresponds to a control amount obtained by computing the attitude difference correction amount stored in a storage unit from the total control amount during position control for causing the control target to follow a moving target.

A position control apparatus comprising:

• a storage configured to store an attitude difference correction amount which is a control amount for maintaining a stopped state if a control target is in the stopped state;
• and
• at least one processor or one circuitry which function as
• a calculator configured to calculate a control amount for causing the control target to follow a target position based on a difference between a detected position of the control target and the target position;
• and
• a control unit configured to control the control target in response to the control amount calculated by the calculator or a total control amount obtained by adding the control amount to a disturbance cancellation control amount corresponding to an amount of movement of the control target,
• wherein the disturbance cancellation control amount is furthermore a control amount which corresponds to a control amount obtained by computing the attitude difference correction amount stored in the storage from the total control amount during position control for causing the control target to follow a moving target.