To provide a vibration restraining control input determination method capable of providing a time deformation system a high damping effect, a conveyance system and a vibration restraining control input computation program for the time deformation system.

It is possible to provide the high damping effect regardless of fluctuation of arm length by inputting vibration restraining control input u(t) to an X-axis servo motor 40, as the determination method of the vibration restraining input for the time deformation system in one embodiment can determine the vibration restraining control input u(t) in consideration of fluctuation of natural frequency following the arm length fluctuation.