Electronic throttle controller design using a triple-step nonlinear method

For the electronic throttle control problem, a new nonlinear controller design method is proposed to improve the tracking control performance. The design procedure is formalized as a triple-step deduction, and the derived controller consists of 3 parts: steady-state-like control, feedforward control based on reference dynamics, and state-dependent feedback control. The asymptotical stability of the closed-loop error system is proved based on Lyapunov method. Finally the designed controller is evaluated by experimental tests, which show that the proposed controller satisfies the control requirement.