Control device for vehicle

A control device for a vehicle equipped with a drive manipulated variable output means for outputting a drive manipulated variable that indicates a drive manipulation state of a vehicle driven by a driver of the vehicle having a plurality of wheels, an actuator device provided in the vehicle so as to be able to perform manipulation of a predetermined motion of the vehicle, and an actuator device control means for controlling an operation of the actuator device, the control device for a vehicle comprising:

• an actual state amount grasping means for detecting or estimating an actual state amount, which is a predetermined state amount related to an actual motion of the vehicle;
• a vehicle model motion determining means for determining a vehicle model motion, which is a vehicle motion on a first vehicle model expressing dynamic characteristics of the vehicle, on the basis of at least the drive manipulated variable;
• and
• a state amount error reaction control means for determining an actual vehicle actuator manipulation control input for manipulating the actuator device of an actual vehicle and a vehicle model manipulation control input for manipulating the vehicle model motion according to a predetermined feedback control law or converging a first state amount error to 0, wherein the first state amount error is the difference between an actual state amount that has been detected or estimated and a model state amount, which is the predetermined state amount related to the vehicle model motion,
• wherein the actuator device control means comprises a means for controlling the actuator device on the basis of at least the actual vehicle actuator manipulation control input, and
• the vehicle model motion determining means comprises a means for determining the vehicle model motion on the basis of at least the drive manipulated variable and the vehicle model manipulation control input.