CONTROL DEVICE FOR MOBILE BODY

A controller 10 with a hardware unit 1 mounted therein includes a control section 100 configured to actually control the hardware unit 1, an identification model 120 including a hard model 121 obtained by modeling a dynamic characteristic of the hardware unit 1 and a soft model 122 configured to execute same processing as processing performed on the hard model 121 by the control section 100, and an adjustment section 142 configured to update a dynamic characteristic of a model of the hardware unit 1 in the hard model 121 such that an output value of the hard model 121 obtained by processing of the soft model 122 matches an actual output value of the hardware unit 1.