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Abstract

A control apparatus controlling a controlled variable of a controlled object having a response lag characteristic using a combination of feedforward control method, response-specifying control method, and disturbance compensation method. An ECU of the apparatus calculates driver demand boost pressure for feedforward-controlling actual boost pressure as controlled variable, and calculates FB target pressure as value on which response lag characteristic of the actual value to the driver demand value is reflected. The ECU calculates error as difference between the actual and target values, and feedback correction term as sum of equivalent control input including disturbance estimated value and the error as variables and reaching law input, using equation defining relationship between the error, feedback correction term value, and disturbance estimated value, and response-specifying control algorithm, and then adds the correction term value to the driver demand value to thereby calculate demanded boost pressure as control input.

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First Claim