A reconfiguration circuit (352) generates a control value for controlling an output value of a control target device based on an input value, and when a fault occurs in an information processing circuit (200) that outputs the control value generated to the control target device, performs preparation for substituting for the information processing circuit (200). Upon completion of the preparation, a reconfiguration target circuit (510) generates an output plan of a control value such that a difference between an actual output value of the control target device and an output value in a scheduled temporal transition gradually decreases, based on the scheduled temporal transition that is a temporal transition of an output value of the control target device, which is scheduled before occurrence of the fault in the information processing circuit (200), a difference between an actual output value of the control target device upon completion of the preparation and an output value in the scheduled temporal transition, and an input value and a control value before occurrence of the fault in the information processing circuit (200), and outputs a control value to the control target device instead of the information processing circuit (200) according to the output plan generated.