A corrected state space model obtained by correcting a state space model to represent a controllable system by adding an error matrix Δ to a state space model representing an uncontrollable system is designed. A control object is controlled based on a control input of the system represented by this corrected state space model. The control input is calculated by a state feedback controller. By correcting the state space model representing the uncontrollable system by the error matrix Δ, the system can be made controllable. Since the error matrix Δ is added to a state matrix, an influence of an error on an output of the system can be reduced.
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