The movement speed v of a moving body having driving wheels driven by a motor, the rotational speed ω of the drive wheels of the moving body, and the actual torque value Tm generated by the motor are acquired. Subsequently, a limiting part (741) calculates an estimated slip ratio λ and an estimated driving torque Ton the basis of the movement speed v, the rotational speed ω and the actual torque value T. Next, the limiting part (741), after calculating a limit value L on the basis of the estimated slip ratio λ and estimated driving torque T, uses the limit value L to calculate a limited torque value T. Further, with an adhesive model as the reference model, a feedback part (742) calculates a feedback torque value Ton the basis of the rotational speed ω and the actual torque value T. Then, a torque setting value calculation part (743A) calculates a torque setting value Ton the basis of the limited torque value Tand the feedback torque value T. As a result, it is possible to quickly realize control in accordance with changes in the road surface state, thus allowing safe travel while ensuring drive power.
