Provided is a control apparatus and a control method capable of satisfying the demand for both of processing speed and control accuracy in a case in which control following a target trajectory is executed by sequentially executing an application program. The control apparatus an instruction value output unit that outputs an instruction value for each control period and a command interpreting unit that sequentially interprets an application program and generates an internal command. The command interpreting unit calculates a passage point on the target trajectory for each period set in advance and generates the internal command in accordance with calculated passage points and changes a period at which the passage points are calculated to a length designated by a special command in a case in which the special command defined in advance is executed in the sequential interpretation of the application program.