To provide a toroidal continuously variable transmission provided with a state observation device of small control error.

This toroidal continuously variable transmission is provided with the state observation device 110 to take input of command values of a speed change actuator 52 to estimate trunnion axis direction displacement based on a state equation of a continuously variable transmission to output an inclination angle or a speed change ratio, and a command value computing device 200 to compute command values of the speed change actuator based on an estimated value of the trunnion axis direction displacement. The state observation device 110 comprises an inclination angle detecting means 100 to detect the inclination angle, and an integrated value determining means 104 to integrate reciprocals of components of sensitivity to inclination angular speed to trunnion axis direction displacement depending on the inclination angle up to the inclination angle at current time. Using this integrated value, transitional matrix of the state equation of the toroidal continuously variable transmission is converted into constant matrix.