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This paper describes a simple engine model at idling and it applies particularly to idle speed control. Through linearization in the neighborhood of the nominal operating points (650 rpm), the engine is expressed as a reduced-order constant coefficient state variable (2 state) model. It was produced through the system order-reduction method. The strategy for controlling idle speed uses the Linear Quadratic and Integral (LQI) optimal control theory. The tracking controller was designed using a state variable engine model, and the performance index was minimized. Since state variables are artificially introduced, they are not directly accessible. Therefore, they must be estimated in accordance with a stored dynamic model (i.e. observer), in which the engine dynamic behavior is estimated on the basis of a state variable model which represents the engine's internal states, in determining controlling values.