A control system for controlling a vehicle which has an engine for driving at least one of wheels thereof and a motor for driving at least one of the rest of the wheels thereof. The control system includes: a motor generator configured to be driven by the engine for generating first alternating-current power at a first voltage; an inverter which converts the first alternating-current power to second power at a second voltage lower than the first voltage or to third direct-current power at a third voltage; and a battery to be charged with the second power supplied from the inverter. The motor is supplied with the third direct-current power at the third voltage obtained from the first alternating-current power.