The present invention is intended to detect a failure of a PM filter with a higher degree of accuracy. The present invention is provided with: a PM trapping efficiency calculation part to calculate a PM trapping efficiency (which is a proportion of an amount of particulate matter trapped with respect to an amount of inflow particulate matter) based on an amount of inflow particulate matter obtained by an inflow particulate matter obtaining part, and an amount of outflow particulate matter detected by a PM sensor; and a failure detection part to make a determination that a failure has occurred in the PM filter, in cases where there has appeared a tendency for the PM trapping efficiency to decrease during a period of time until the execution of the following filter regeneration processing is started after the completion of execution of the filter regeneration processing.