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In the present invention, a first regeneration process is executed as a process for oxidizing and removing PM accumulated on the particulate filter if a measured value of a differential pressure sensor is not more than a predetermined upper limit value, assuming that the measured value of the differential pressure sensor is a value to be provided in a state in which only PM is accumulated on the particulate filter, when a difference between an estimated PM accumulation amount estimated from an operation history of an internal combustion engine and a PM accumulation amount calculated from the measured value of the differential pressure sensor is not less than a predetermined threshold value, while a second regeneration process is executed without executing the first regeneration process if the measured value is larger than the predetermined upper limit value.
