Abstract: Provided is a robot control system which can perform force control feedback even when a force sensor has failed.

Abstract: Provided is an internal combustion engine control device capable of maintaining an activation temperature of a catalyst while suppressing deterioration of an exhaust gas in a hybrid engine. To this end, the internal combustion engine control device of the present invention controls an internal combustion engine in an engine for a hybrid vehicle. The internal combustion engine has a catalyst that purifies the harmful substances in the exhaust gas and a catalyst temperature detection unit that detects the temperature of the catalyst. Then, when the temperature of the catalyst detected by the catalyst temperature detection unit does not reach a predetermined temperature, the internal combustion engine control device performs a catalyst temperature rise control for increasing the temperature of the catalyst and performs motoring.

Abstract: Torque fluctuations caused by misfire and abnormal combustion are prevented appropriately at the time of switching from SI to HCCI, and exhaust of NOx is restricted at the time of switching. Provided is a control apparatus for an internal combustion engine performing a plurality of combustion modes each having a different air-fuel ratio and compression end temperature in a cylinder 7 from each other. In the middle of switching from a first combustion mode to a second combustion mode, an intermediate combustion mode in which the compression end temperature is increased while keeping a different air-fuel ratio from the air-fuel ratio of the first combustion mode and the air-fuel ratio of the second combustion mode is performed.

Abstract: Torque fluctuations caused by misfire and abnormal combustion are prevented appropriately at the time of switching from SI to HCCI, and exhaust of NOx is restricted at the time of switching. Provided is a control apparatus for an internal combustion engine performing a plurality of combustion modes each having a different air-fuel ratio and compression end temperature in a cylinder 7 from each other. In the middle of switching from a first combustion mode to a second combustion mode, an intermediate combustion mode in which the compression end temperature is increased while keeping a different air-fuel ratio from the air-fuel ratio of the first combustion mode and the air-fuel ratio of the second combustion mode is performed.