Operating efficiency of a target to be controlled is enhanced, and a degree of freedom in converting a language of a program is enhanced. A program generation apparatus includes: a design information conversion unit that converts design information, which includes a plurality of states of a device, relationships between signals and the states of the device, and time required for changes of the states of the device, into a model, which includes a state set, an input set, a transition function, and time required for transitions; a control law derivation unit that derives a control law, based on a requirements specification including a specification related to the time required for the transitions and the model, so as to satisfy the requirements specification; and a program generation unit that generates a program, based on the control law.