Control unit having a disturbance predictor, a system controlled by such a control unit, an electrical actuator controlled by such a control unit, and throttle device provided with such an actuator

An electrical actuator comprising:

• a first actuator body and a second actuator body which is pivotable relative to the first actuator body through an angle of rotation about an axis of rotation;
• electrical energizing means for exerting an electromagnetic torque on the second actuator body;
• and
• a control unit for controlling the angle of rotation of the second actuator body, said control unit comprising
• (i) a first control member with an input for receiving an input signal corresponding to a required angle of rotation of the second actuator body, and an output for supplying a control signal corresponding to a required electromagnetic torque on the second actuator body;
• and
• (ii) a second control member with an input for receiving the control signal corresponding to the required electromagnetic torque and an output for supplying an output signal corresponding to a required electrical current through said energizing means;
• wherein the first control member incorporates a disturbance observer and a disturbance predictor;
• the disturbance observer calculating, on the basis of a mathematical model of the actuator, a disturbance variable relating to the torque exerted on the second actuator body and supplying an output signal corresponding to a value of said disturbance variable as calculated at a first point in time;
• the output signal of the disturbance observer being supplied to an input of the disturbance predictor, which has an output for supplying an output signal corresponding to a value of the disturbance variable as predicted for a second point in time which follows the first point in time by a predetermined time interval.