To cope with a case of a multimode more satisfactorily by receiving a parameter that calculates a non-fuzzying value from an M-PTD processor, calculating a non-fuzzying value and outputting it as a definite control signal to a controlled system.

A system evaluation and sample selector 26 evaluates system performance based on feedback information from a controlled system 21 and selects sample data. A sample database 27 stores sample data which is used in adaptive repeat processing by a Kalman filter in the process of parameter learning in M-PTD. An M-PTD processor 28 receives sample data from the database 27, uses the M-PTD and calculates the value of a conversion parameter. A non-fuzzying interface 25 converts an area value that is received from a fuzzy inferring means 23 into a non-fuzzying value and outputs it to the system 21.