Abstract – The electronic throttling angle control system is the newly common
requirement trend in automotive technology. It is used to regulate the amount of air flow
into the engine. Due to the existence of multiple non-smooth nonlinearities, the
controller design to the electronic throttle valve becomes a difficult task. These
nonlinearities including stick–slip friction, backlash, and a discontinuous nonlinear
spring involved in the system. The designed controller in the present work consists of
the estimated perturbation term with a negative sign (used to cancel the perturbation
term) and a stabilizing term used to stabilize the nominal system model. The
perturbation term consists of the external unknown input and the uncertainty in throttle
valve model including the nonlinear terms. The utilized estimator uses the sliding mode
control theory and based on the equivalent control methodology. The simulation results
show the effectiveness of the proposed controller in estimating the perturbation term.
And then in forcing the angle of the throttle valve to follow the desired opening angle in
presence of nonlinearities and disturbances in throttle system model and the variation in
its parameters.