To prevent heat from being generated in PID control of a vehicular actuator such as a variable valve lift mechanism in which a target value updating cycle is set greater than a feedback manipulated variable updating cycle.

When a target rotating angle of the variable valve lift mechanism (a target lifting amount of an inlet valve) is changed, a current derivative value dn for a control deviation ERR between the target rotating angle and an actual rotating angle (an actual lifting amount) is calculated, and then a difference (dn-dn-1) between the current derivative value and a previous controlled derivative value dn-1 is calculated, a current controlled derivative value dn-1' corrected by adding a value multiplying the difference by a (dn-dn-1) preset rate a (0<a<1) to the previous controlled derivative value dn-1 is calculated, and a derivative manipulated variable D is set for the corrected controlled derivative value dn-1'.