A control system for causing an output of a predetermined control target that is a servo control target to follow a predetermined command, comprising: a first processing device which is a processing device having a first processor and a prediction model that defines a correlation between a predetermined state variable with respect to the predetermined control target and a control input to the predetermined control target in the form of a predetermined state equation, the first processing device performing model predictive control on the basis of the prediction model according to a predetermined evaluation function in a prediction interval having a predetermined duration using the first processor and outputting a servo command corresponding to the control input at at least an initial time point of the prediction interval; and a second processing device which is a processing device having a second processor different from the first processor and a predetermined feedback system including one or a plurality of controllers to which a feedback signal related to an operation of the predetermined control target is input, and receiving the servo command output from the first processing device, the second processing device performing feedback control according to the predetermined feedback system on the basis of the received servo command using the second processor; wherein the first processor executes the model predictive control in a first operation period, the second processor executes the feedback control in a second operation period shorter than the first operation period, the first processing device creates, using the first processor, a plurality of servo commands at a plurality of time points including the initial time point and corresponding to the second operation period in a predetermined interval including the initial time point of the prediction interval and corresponding to the first operation period on the basis of an operation result of the model predictive control executed in the first operation period in the first operation period and outputs the plurality of servo commands to the second processing device, and the second processing device performs the feedback control using the second processor on the basis of the plurality of servo commands in the second operation period according to time sequences associated with the plurality of servo commands. a first processing device which is a processing device having a first processor and a prediction model that defines a correlation between a predetermined state variable with respect to the predetermined control target and a control input to the predetermined control target in the form of a predetermined state equation, the first processing device performing model predictive control on the basis of the prediction model according to a predetermined evaluation function in a prediction interval having a predetermined duration using the first processor and outputting a servo command corresponding to the control input at at least an initial time point of the prediction interval; and a second processing device which is a processing device having a second processor different from the first processor and a predetermined feedback system including one or a plurality of controllers to which a feedback signal related to an operation of the predetermined control target is input, and receiving the servo command output from the first processing device, the second processing device performing feedback control according to the predetermined feedback system on the basis of the received servo command using the second processor; wherein the first processor executes the model predictive control in a first operation period, the second processor executes the feedback control in a second operation period shorter than the first operation period, the first processing device creates, using the first processor, a plurality of servo commands at a plurality of time points including the initial time point and corresponding to the second operation period in a predetermined interval including the initial time point of the prediction interval and corresponding to the first operation period on the basis of an operation result of the model predictive control executed in the first operation period in the first operation period and outputs the plurality of servo commands to the second processing device, and the second processing device performs the feedback control using the second processor on the basis of the plurality of servo commands in the second operation period according to time sequences associated with the plurality of servo commands.