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Previously air-fuel ratio control using a λ O2 sensor had two problems which resulted from the binary output characteristics: (1) Insufficient convergence performance after A/F disturbance, resulting in worsening of emissions in transient states, and (2) A narrow A/F control range, resulting in worsening of emissions due to mean A/F shift in the front A/F. However, we have executed a paradigm shift to mean A/F control focused on the O2 storage ability of the catalyst and on the conversion characteristics, and carried out the following improvements. (1) Using a catalyst O2 storage model, we analyzed the interaction among front A/F feedback, O2 storage behavior, the rear. O2 signal, and emissions. Based on the results of this analysis, we designed an optimal O2 storage capacity (OSC) using a new catalyst with improved O2 storage ability, and verified that the first problem was resolved. (2) Previously, it was difficult to design front λ O2 control due to its strong non-linearity.