To materialize accurate torque shift compensation by controlling influence by delays in detection value and estimation value of engine torque.

The control device is equipped with a trunnion for freely rotatably supporting a power roller in which driving force is transmitted between input and output disks, an actuator for driving a speed change control valve for supplying hydraulic pressure to hydraulic actuator for driving the trunnion, a means for computing the driving quantity of the actuator so as to match an actual gear ratio with a target gear ratio, a means for detecting input torque, a torque shift compensation part 53e for computing torque shift compensation quantity on the basis of the input torque, and a gear ratio command value converter 54 for computing to control the command value to the actuator by the driving quantity of the actuator and the torque shift compensation quantity. The torque shift compensation part 53e contains an advance processing means for advancing to either of input torque or torque shift compensation quantity and executing advance processing in accordance with an operating state.