Abstract: A control system comprising two controller modules. The controller module includes an independent controller, a cooperative controller, an adjuster and a synthesizer. The independent controller inputs measured values xi of a system variable from a target system controlled by the current module. The cooperative controller inputs measured values of a control variable xj from a target system controlled by another module. The adjuster adjusts the gain of the cooperative controller 4 based on the control variable xi. The synthesizer corrects the output of the independent controller 3 by using that of the cooperative controller and effects on output reflecting the composition. The target system being controlled by the current module is controlled according to the output of the synthesizer of the current module. Any interference that may occur between the changing system variables of the target system can be suppressed in a short time.