A power feeding apparatus is provided. The power feeding apparatus includes a power feeding unit configured to supply electric power to a power receiving apparatus through a magnetic field; a measuring unit configured to measure an electric characteristic value and to generate a measurement value; a power receiving unit configured to provide a set value; and a foreign substance detection unit configured to detect a foreign substance in the magnetic field based on the set value and the measurement value. A power receiving apparatus, a power feeding system, and a method of controlling power feeding are also provided.