A control system comprising a feedback controller 1 for determining an operation amount u in a control-implemented system based on a command value r*, a detection value y of the control-implemented system and phase information θ for the control-implemented system, wherein the feedback controller 1 has a periodic disturbance suppression controller 4 for outputting a periodic disturbance compensation signal rpd* based on the detection value y and the phase information θ; and a resonance/disturbance suppression controller 3 for calculating the operation amount u based on the detection value y and a corrected command value r obtained by adding the periodic disturbance compensation signal rpd* to the command value r*. The periodic disturbance suppression controller 4 uses a generalized periodic disturbance observer. In the control system, resonance, non-periodic disturbances and periodic disturbances are all suppressed in order to raise the system control performance.