A control system for a vehicle has an engine control unit for an engine and a generator control unit for a power generator driven by the engine. The engine control unit calculates a permissive power generation torque, which is permitted to be used by the power generator, in accordance with a response delay of the engine. The generator control unit calculates a command power to be generated by the power generator so that a battery voltage variation and an engine speed variation are suppressed to be less than respective allowable variation limits, when a power difference is caused between a required power and a permissive power generated by the permissive torque.