A control apparatus for a vibration type actuator is disclosed, with which at
least
three kinds of vibrations are excited, and a desired motion can be carried out
with high efficiency. The vibration type actuator includes a rotatable moving member,
an elastic member contacting the moving member, and an electro-mechanical energy
conversion element exciting at least three different kinds of vibrations in the
elastic member by supplying at least three periodic signals having different phases.
The control apparatus includes a rotation axis determining unit, a parameter determining
unit and a control circuit. The rotation axis determining unit determines a rotation
axis for rotating the moving member. The parameter determining unit determines,
by using an inverse model, phase and amplitude of the periodical signals.
