A first arbitration unit determines one demand engine torque of static demand engine torques set in a power train driver model and an ECT torque control system. The demand engine torque determined by the first arbitration unit is converted into dynamic demand engine torque by a conversion unit. A second arbitration unit determines demand engine torque for use in control of an engine from among the dynamic demand engine torque converted from the static demand engine torque by the conversion unit, dynamic demand engine torque set by a VDIM system, and dynamic demand engine torque set by a vibration suppression control system. An engine control system controls the engine according to the demand engine torque determined by the second arbitration unit.