CONTROLLER

摘要

A controller for controlling the output of a controlled variable by using a control algorithm to which a modulation algorithm based on one of the Delta modulation algorithm, DeltaSigma modulation algorithm, and SigmaDelta modulation algorithm is applied. Even if the absolute value of the input value inputted into the modulation algorithm is kept over 1 for a long time, the control accuracy is improved. The controller (1) for controlling the cam phase Cain of an intake cam (5) has an ECU (2). The ECU (2) calculates the limit value deviation r2 for controlling the cam phase Cain according to formulas (1 to 10), modulates the limit value deviation r2 with the algorithm composed of formulas (11 to 13) based on the DeltaSigma modulation algorithm, thereby calculates the modulation output u" as predetermined values ±R (R>||r2||), and calculates the control input Vcain inputted to an electromagnetic cam phase varying mechanism (30) from the modulation output u" (steps 5, 6).