Transmission controller

A transmission controller which controls a transmission ratio of a toroidal continuously variable transmission which continuously changes the transmission ratio based on a tilt motion angle of a power roller, the transmission controller comprising:

• an actuator which changes a roller position of the power roller to adjust the tilt motion angle;
• a tilt motion angle information generation unit which generates information of the tilt motion angle;
• a position estimation unit which derives an estimated value of the roller position;
• and
• a position control unit which derives an operation command value of the actuator so that a deviation between a command value of the roller position and the estimated value of the roller position is cancelled,
• wherein the position estimation unit is configured to derive the estimated value based on the information of the tilt motion angle which is generated by the tilt motion angle information generation unit, and the operation command value, and to compensate the estimated value based on an environment parameter which affects an operation of the power roller.