Composite Controller for Electronic Automotive Throttle with Self-tuning Friction Compensator

  • R. Grepl


The automotive throttle is a highly nonlinear servo system with significant parameter changes caused by temperature, wear and lubrication during the vehicle operation. This paper describes the controller structure with basic heuristically tuned (fixed) PID controller coupled with tuned model-based feedforward spring and feedback error-based friction compensator. The extended Kalman filter with augmented state vector is used for parameter and state estimation based on nonlinear model and noisy position measurement. Simulation results of controller behavior and friction estimation are presented.


Extended Kalman Filter Slow Parameter Electronic Throttle Friction Compensator Composite Controller 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • R. Grepl
    • 1
  1. 1.Mechatronics Laboratory, ISMMB, FMEBrno University of TechnologyCzech republic

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