An actuator control apparatus (1) is provided, capable of causing a state value which changes according to the action of an actuator (10) to match a prescribed target value. A synchronizing mechanism (2) is modeled as the collision of an inertial system object and an elastic system object, and taking as a state amount the deviation between the actual position (Psc) of a coupling sleeve (6) and the target position (Psc_cmd), a computation coefficient (VPOLE) of a switching function used in sliding mode control which takes the state amount as a variable is, in a first process until the coupling sleeve (6) makes contact with a synchronizer ring, set according to the actual position (Psc) of the coupling sleeve (6), and in a process until the coupling sleeve (6) engages a synchronized gear (7), is set such that the pressing force of the coupling sleeve (6) matches a target pressing force.