CONTROL DEVICE FOR MOBILE BODY

A controller includes a control section configured to actually control a hardware unit, an identification model including a hard model obtained by modeling a dynamic characteristic of the hardware unit and a soft model configured to execute same processing as processing performed on the hard model by the control section, and an adjustment section configured to update a dynamic characteristic of a model of the hardware unit in the hard model such that an output value of the hard model obtained by processing of the soft model matches an actual output value of the hardware unit.