Extended-State-Observer-Based Double-Loop Integral Sliding-Mode Control of Electronic Throttle Valve

An extended-state-observer-based double-loop integral sliding-mode controller for electronic throttle (ET) is proposed by factoring the gear backlash torque and external disturbance to circumvent the parametric uncertainties and nonlinearities. The extended state observer is designed based on a nonlinear model of ET to estimate the change of throttle opening angle and total disturbance. A double-loop integral sliding-mode controller consisting of an inner loop and an outer loop is presented based on the opening angle and opening angle change errors of ET through Lyapunov stability theory. Numerical experiments are conducted using simulation. The results show that the accuracy and the response time of the proposed controller are better than those of the back-stepping and sliding mode control.