A control system that performs control of an electric motor is described. The control system may include a rotating body inertia torque computing unit that uses a rotational state of a vehicle wheel when braking is applied to the wheel to calculate an inertia torque of rotating bodies residing within a span behind the wheel, among members that rotate by the driving force of the electric motor. The control system also may include a controller that performs control of the electric motor to cancel the inertia torque of the rotating bodies based on the calculation result from the rotating body inertia torque computing unit.