1. A method for controlling an object by giving commands to actuators to control said object to perform desired operations, said method comprising the steps of: obtaining, by learning, relationships between respective values of parameters of a model for said controlled object and input/output state values of said model, and storing the obtained relationships in memory means as results of the learning; deciding parameter values of said model by referring to the obtained relationships resulting from the learning stored in said memory means based on input/output measured values of said controlled object; and obtaining commands based on said decided parameter values and giving said obtained commands to said actuators.