Back-stepping control (BSC), which is deemed effective for a non-holonomic system, is applied to improving both responsiveness and resolution performance of an electronic control throttle (ECT) used in automotive engines. This paper is characterized by the use of a two-step type BSC in a manner that achieves an improvement in responsiveness with the ETC operated in a fully opened state by adding a derivative term in Step 1 and the improvement in resolution performance with the ETC operated in a minutely opened state by adding an adaptive feature in the form of an integral term using the control deviation in Step 2. This paper presents an ECT control expressed as a second-order system including nonlinearities such as backlash of gear train and static friction in sliding area, a BSC system designed based on Lyapunov stability, and a determination method for control parameters. Also, a two-step type BSC system is formulated using Matlab/Simulink with a physics model as a control object. As a result of simulation analyses, it becomes clear that the BSC system can achieve quicker response because the derivative term works effectively and finer resolution because the adaptive control absorbs the error margin of the nonlinear compensation than conventional PID control.
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