A data-oriented feedback controller disclosed herein allows the user to wear or use a device under control comfortably, and includes: a device under control for determining a controlled variable θ(t) with respect to a human being in accordance with an input manipulated variable u(t)； a primary controller for determining the manipulated variable u(t) based on an input difference v(t) between an estimated target value w(t) and the controlled variable θ(t)； a psychological evaluator for detecting biometric information bio(t) about the human being corresponding to the controlled variable θ(t), evaluating the human being's psychology based on the biometric information bio(t), and determining a psychological output value y(t) representing the psychology； and a secondary controller for receiving a difference ε(t) between a target value r(t) of the human being's psychology and the psychological output value y(t) and determining the estimated target value w(t) based on the difference ε(t).
