Abstract: Engine torque control as a function of a steady state and a transient torque control command to drive engine speed toward a target engine speed provides for a correction to the steady state torque control command to account for unmodelled effects of such slowly changing parameters as ambient temperature and pressure and engine coolant temperature, by determining a difference between an expected and an actual engine control parameter as function of the current engine operating level, translating such difference to an engine torque requirement deviation caused by unmodelled effects, and providing a torque correction therefor so that compensation may be provided in an appropriate manner for the unmodelled effects. The torque correction may further be stored as a function of the current value of the slowly changing parameters to develop a stored model which may be accessed, once developed, to provide the compensation with minimum on-line computation.

Abstract: Internal combustion engine speed is controlled through a nested plurality of compensation loops each of which is dedicated to exclusively addressing engine control processes and the delays associated therewith. State observers provide predicted state values to the plurality for generation of desired state values at a subsequent cylinder event. Feedforward compensation is included to compensate for substantially constant engine loads of known magnitude while such loads are determined to be applied. Ignition timing advance compensation is favored for small speed errors or when rapid response is required, and engine inlet air rate compensation is favored for large speed errors or when slower response can be tolerated.

Abstract: Prediction of the torque and speed of an internal combustion engine at a subsequent engine angular position at which engine control commands are to be issued include information on a steady state torque estimation in accord with a set of engine parameters, an estimated torque production delay value, and prior predictions of engine speed and torque. Correction values reflect differences between previous predicted values and corresponding measurements, when such measurements become available, such correction values being applied to refine the predictions.