calculates the estimated delay amount based on a differential value between {HEAD ~ a smaller value} of {TAIL ~ the output limit value} of the first control object and the control target value, and the first movement estimated value acquired by the first estimating unit, in the case where the output limit value of the first control object cannot exceed the final target value of the control target value 
of
calculates the estimated delay amount based on a differential value between { HEAD ~ a smaller value } of { TAIL ~ the output limit value } of the first control object and the control target value , and the first movement estimated value acquired by the first estimating unit , in the case where the output limit value of the first control object can not exceed the final target value of the control target value
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH