A maximum flow calculating unit calculates a maximum amount of hydraulic fluid that can flow into or out of an input-side hydraulic cylinder when a shift control command signal is set to a reference DUTY value, based on an estimated valve pressure difference calculated by an estimated pressure difference calculating unit, and a post-guard target sheave position setting unit performs a guard process for restricting the amount of change of the sheave position, using a guard value calculated by a guard value calculating unit based on the maximum flow amount, so as to set a post-guard target sheave position. Since the thus set target sheave position does not undergo excessive large changes nor excessively small changes during shifting, a target value for shifting is set so that a feedforward controlled variable determined based on the amount of change of the target sheave position becomes an appropriate value.