Modern gasoline internal combustion engines use a variety of technologies to enhance the efficiency of fresh air induction. These technologies, which include variable valve timing and variable intake geometry systems, also make it more difficult to predict the mass of fresh air that is trapped during the induction stroke of the engine because they not only affect the residual gas fraction of the trapped air charge, but also the wave dynamics of the system. As the number of controllable actuators increases, this estimation problem becomes even more difficult. As these technologies continue to develop, the importance of robustness in air-to-fuel ratio control continues to grow. This paper presents an air-to-fuel ratio control algorithm based on a switching frequency regulator that has favorable robust stability properties in the presence of both input and model errors. Instead of modeling the air path system with a simplified model, this control architecture considers the air estimate as a control input. As a result, air estimation errors behave like input errors, not modeling errors. By using the rich-to-lean and lean-to-rich air-to-fuel ratio switching frequencies of the pre-catalyst exhaust gas oxygen sensor as the primary feedback signal, the control laws are completely independent of the parameters of the plant model. The performance of this controller is demonstrated both with a robust stability analysis and through a vehicle-based experimental validation.
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