In this paper, we describe the control of a body using functional electrical stimulation (FES) by adjusting pulse amplitude and frequency. FES is a technique used in the rehabilitation of spinal injury patients and application development for healthy people. However, control using the FES involves a delay time, resulting a high-frequency vibration (called chattering). In this paper, we propose that the control performance can be improved by adjusting the frequency in addition to the conventional pulse amplitude adjustment. In experiments, target values were controlled using subjects, and the performance of the proposed method was verified. Results confirmed that chattering is suppressed by the proposed method.