To realize excellent robust control without requiring a dynamic vibration absorber.

Installation of the dynamic vibration absorber in a controlled object is assumed, and driving force in the case where a desirable synchronous frequency of a move equation of a driving mass of the assumed dynamic absorber can be set is computed (S1). Force in proportion to speed of the controlled object in an installation position of the assumed dynamic vibration absorber is added to the computed driving force to obtain a control order of the driving mass of the assumed dynamic vibration absorber (S2). Force to be applied to the controlled object from the assumed dynamic vibration absorber in the case of driving the driving mass of the assumed dynamic vibration absorber on the basis of the control order is computed (S3). Thereafter, the force computed as a force to be applied to the controlled object is input for control and applied to the controlled object by a necessary actuator to restrict vibration of the controlled object (S4).