APID control device comprising: a measured value acquiring unit configured to process a sensing signal of a sensor that measures a control target and to acquire a measured value of the control target; a storage unit configured to store a target value of the control target and a PID parameter; an operation amount calculating unit configured to calculate an amount of operation using the PID parameter and a difference between the measured value of the control target and the target value of the control target; an output unit configured to output the amount of operation calculated by the operation amount calculating unit ; a variation range detecting unit configured to detect a variation range of the measured value of the control target; and an update unit configured to update the PID parameter on the basis of the variation range of the measured value of the control target detected by the variation range detecting unit , wherein the update unit is configured to perform a first update process for updating the PID parameter stored in the storage unit when the variation range of the measured value of the control target detected by the variation range detecting unit is greater than a first range, and perform a second update process for updating the PID parameter stored in the storage unit when the variation range of the measured value of the control target detected by the variation range detecting unit is less than a second range. a measured value acquiring unit configured to process a sensing signal of a sensor that measures a control target and to acquire a measured value of the control target; a storage unit configured to store a target value of the control target and a PID parameter; an operation amount calculating unit configured to calculate an amount of operation using the PID parameter and a difference between the measured value of the control target and the target value of the control target; an output unit configured to output the amount of operation calculated by the operation amount calculating unit ; a variation range detecting unit configured to detect a variation range of the measured value of the control target; and an update unit configured to update the PID parameter on the basis of the variation range of the measured value of the control target detected by the variation range detecting unit , wherein the update unit is configured to perform a first update process for updating the PID parameter stored in the storage unit when the variation range of the measured value of the control target detected by the variation range detecting unit is greater than a first range, and perform a second update process for updating the PID parameter stored in the storage unit when the variation range of the measured value of the control target detected by the variation range detecting unit is less than a second range. perform a first update process for updating the PID parameter stored in the storage unit when the variation range of the measured value of the control target detected by the variation range detecting unit is greater than a first range, and perform a second update process for updating the PID parameter stored in the storage unit when the variation range of the measured value of the control target detected by the variation range detecting unit is less than a second range. <EOS>