A suspension system S according to the present invention is configured to control actuators AFR, AFL, ARR, ARL by determining a pitch damping force FP and a roll damping force FR to cancel roll and pitch moments MP, MR of a body B, and determining target control forces FTFR, FTFL, FTRR, FTRL in consideration of the pitch damping force FP and the roll damping force FR. When the pitch damping force FP and the roll damping force FR are output to the actuators AFR, AFL, ARR, ARL, the actuators AFR, AFL, ARR, ARL can each generate a control force for cancelling a force acting on the body B not later but preliminarily.