In a vehicle control device, a dynamic characteristics description unit includes a model element simulating dynamic characteristics of motion or deformation of a controlled object. By using the model element, this unit simulates hysteresis characteristics caused during a process of motion or deformation of the controlled object based on at least one of an estimated value of the input manipulated variable and an estimated value of a disturbance input inputted in the controlled object, and defines a control target index of a motion state of the controlled object. A correction amount computing unit calculates a correction amount which adjusts the manipulated variable in such a way that the control target index related to the hysteresis characteristics becomes a desired state. A command output unit corrects manipulated variable based on the correction amount to produce a command for the corrected manipulated variable to output it to the controlled object.