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To fulfill ever increasingly stringent emission regulations, a great many studies on engine control and catalytic converter performance have been made. Topics of great interest in this area, to name a few, include: the relationship between catalyst light-off time and air-fuel (A/F) ratio; the relationship between forced A/F ratio modulation and catalyst efficiency; the effects of phase-shifted A/F ratio modulation between banks of a dual bank engine, or among cylinders of a single manifold engine on catalyst efficiency; and methods of modeling and measuring the oxygen storage capacity of a catalytic converter by rich-lean transition, A/F ratio sweeping, or other on-line estimation methods. To undertake this type of research, an engine control system with necessary functions, especially with very flexible A/F ratio control capabilities, is needed.