A power output apparatus includes a control unit that controls an internal combustion engine, a generator, and an electric motor such that a required driving force is output to a drive shaft. The control unit learns an idle control amount, which is a control amount obtained during an idle operation of the internal combustion engine, in accordance with establishment of a predetermined learning condition when a rotation variation amount of the drive shaft is within a predetermined range including a value of zero, and does not learn the idle control amount when the rotation variation amount of the drive shaft is not within the predetermined range.