A control system for a hybrid vehicle is provided to suppress noise generated by an application of excessive torque to a torsional damper. A controller predicts that a limit torque is applied to the input member. If an application of the limit torque to the input member is expected, the controller restricts an output torque of an engine while adjusting an output torque of the motor to compensate a reduction in a drive force resulting from a restriction of the engine torque.