Carbon dioxide enrichment for greenhouse crops has generally been a standard commercial practice for many years. Vegetable crops such as tomato, cucumber, and lettuce respond positively to the $CO_2$ enrichment. But improper $CO_2$ enrichment leads to physiological damage and economical loss. This study was carried out to develop a $CO_2$ concentration control algorithm considering growth stage and efficiency. The measurand was $CO_2$ consumption rate and top fresh weight that represents growth stage. The weight of top fresh lettuce as a whole in the tray was measured through a non-destructive method. The demand in $CO_2$ concentration according to growth stage was investigated. The results are summarized as follows. 1. The $CO_2$ consumption rate could be measured within the error of $pm$ 15.4mg$CO_2$/hr in the range of $CO_2$ concentration of 500-1500ppm. 2. The weight of top fresh lettuce could be measured within the error $pm$ 4.3g in the range of 0-1400g. 3. The $CO_2$ control model developed could determine an economical $CO_2$ supply rate considering $CO_2$ consumption rate and leakage rate. 4. The $CO_2$ control algorithm based on the control model was composed of feedforward control for maintaining a stable $CO_2$ concentration level, and feedback control with $CO_2$ consumption rate and top fresh weight for adapting to the change in $CO_2$ demand by growth stage. 5. For the performance test with the developed control algorithm on lettuce the decrease in $CO_2$ supply rate was obtained without a significant decrease in top fresh weight.