Control apparatus, control method , and engine control unit

A control apparatus comprising:

• control input calculating means for calculating a control input to a controlled object based on one modulation algorithm selected from a Δ modulation algorithm, a ΔΣ modulation algorithm, and a ΣΔ modulation algorithm, and a controlled object model which models said controlled object, for controlling an output of said controlled object.

A control method comprising the steps of:

• calculating a predicted value of a value indicative of an output of a controlled object based on a prediction algorithm;
• and
• calculating a control input to said controlled object based on one modulation algorithm selected from a Δ modulation algorithm, a ΔΣ modulation algorithm, and a ΣΔ modulation algorithm for controlling the output of said controlled object in accordance with said calculated predicted value.

A control method comprising the step of:

• calculating a control input to a controlled object based on one modulation algorithm selected from a Δ modulation algorithm, a ΔΣ modulation algorithm, and a ΣΔ modulation algorithm, and a controlled object model which models said controlled object, for controlling an output of said controlled object.

An engine control unit including a control program for causing a computer to calculate a predicted value of a value indicative of an output of a controlled object based on a prediction algorithm;

• and calculate a control input to said controlled object based on one modulation algorithm selected from a Δ modulation algorithm, a ΔΣ modulation algorithm, and a ΣΔ modulation algorithm for controlling the output of said controlled object in accordance with said calculated predicted value.

An engine control unit including a control program for causing a computer to calculate a control input to a controlled object based on one modulation algorithm selected from a Δ modulation algorithm, a ΔΣ modulation algorithm, and a ΣΔ modulation algorithm, and a controlled object model which models said controlled object, for controlling an output of said controlled object.