A continuously variable transmission (4) comprises an endless torque transmission member (13) looped around a pair of pulleys (11, 12). At least one of the pulleys changes a winding radius of the endless torque transmission member (13) in accordance with an applied pulley thrust. A controller (22) estimates a stretch amount of the endless torque transmission member (13) based on an operating state of the continuously variable transmission (4), sets a slip limit thrust based on the stretch amount, and controls the pulley thrusts based on the slip limit thrust. In this manner, appropriate pulley thrust control in accordance with whether or not the endless torque transmission member (13) stretches is realized.