A positioning control apparatus including feedback loops according to a plurality of control modes which control positioning of an object to be controlled is provided, in which the positioning control apparatus includes a part (121, 122, 123, 124) for reflecting a control process performed by a control mode before being switched in a control process performed by a control mode after being switched when a control mode is switched to another control mode. For example, an operation parameter on the control mode before being switched is dynamically reflected in the control mode after being switched.