CONTROL APPARATUS AND CONTROL METHOD

A control apparatus for PI-controlling a control input value to a control object on the basis of a difference between a target value to the control object and an output value from the control object, the control apparatus includes an estimation part that estimates an amount of deviation in a control model, in which a differential of an output value of the control object including measurement noise is defined by the control input value and an amount of deviation of the output value of the control object from an output value of a normative model, by means of a Kalman filter composed of a state space model, a calculation part that obtains the control input value on the basis of the estimated amount of deviation, a proportional gain, and an integral gain, and an adjustment part that adjusts a parameter for setting a Kalman gain of the Kalman filter.