Inertia torque compensation control for a vehicle fitted with an infinitely variable transmission

An IVT controller (14) determines whether the operation mode of an infinitely variable transmission (IVT) 10 is a power recirculation mode or a CVT direct mode, and selects an inertia torque computing equation corresponding to the operation mode. The inertia torque accompanying a speed change of the IVT 10 is computed using the computing equation. An engine controller (15) adjusts the opening of an electronic control throttle (18), and adjusts the torque of the engine (1) so that the computed inertia torque is eliminated.