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The second-generation air-fuel ratio control method has been developed to reduce exhaust gas emissions in accordance with the improvements in catalysts. The control system consists of a feedforward control using a fuel behavior model, a feedback control using an universal exhaust gas oxygen (UEGO) sensor and a feedback control utilizing the heated exhaust gas oxygen (HEGO) sensor. This significantly improves air-fuel ratio tracking performance by feedforward control derived from the models that express the dynamic phenomena and the disturbance attenuation by UEGO feedback controller which compensates for the long dead-time characteristics by the state predictive control. The tracking performance and the disturbance attenuation can be achieved independently by a two-degree-of-freedom structure presented in this paper. The exhaust air-fuel ratio downstream of the catalyst precisely converges to stoichiometry, which maximizes the conversion efficiency of the catalyst.

A novel plant modeling method called High Level Modeling (HLM) to design and develop control-oriented plant model is introduced. The HLM method is specifically designed to expose the design intention at physics level of a target physical system in a straightforward manner so that plant models can be efficiently understood and peer-reviewed from the physical standpoint. The method also enables construction of system equations from the design information based on simple formal rules which guarantees conservation laws. To show the effectiveness of the HLM approach through a concrete use case, it is applied to turbocharger radial compressor modeling, and analysis on the model equations is performed by deriving compressor speed lines and efficiency.