To minimize loss in specific operation by solving an optimization control problem even in a hybrid vehicle and a mobile robot difficult to predict a state in the future thereof.

An input determination means 15 generates internal input 16 with external input 11 and output 12 as the input. A moving vehicle 10 targets an object which has redundancy and a plurality of methods for generating the output 12 corresponding to a certain external input 11. Internal input 16 determines an evaluation function, decided beforehand by the input determination means 15, so as to minimize or the maximize the evaluation function. The input determination means 15 have a future state prediction means 21, an optimization operation means 22 and a constraint condition determination means 23. When a solution obtained by the optimization operation is impossible to be executed, an optimization operation result notice means 27 is arranged in order to notify the outside of the fact, and is materialized as an LED, a liquid crystal display, a memory, and the like. This not only facilitates debugging at the time of development, but also is used as off-line diagnosis.