Patent ID: 8649938

Claim:
A control system installed in a vehicle, the control system comprising: a first control unit configured to apply a first controlled force to a first controlled object of the vehicle to control dynamics of the first controlled object; a second control unit configured to control a second controlled object of the vehicle, the dynamics of the first controlled object being subject to dynamics of the second controlled object, the control of the second controlled object causing a second controlled force to be applied to the first controlled force; a first controlled-force estimator that estimates the first controlled force; a second controlled-force estimator that estimates the second controlled force; an external force estimator that estimates, as an external force being exerted on the vehicle as the vehicle runs; a dynamics estimator that estimates, based on the estimated first controlled force, the estimated second controlled force, and the estimated external force, a value of a parameter that represents the dynamics of the controlled object; and a compensator that compensates for at least one of the first controlled force applied by the first control unit or the second controlled force caused by the first controlled force applied by the first control unit such that the value of the parameter is within a preset target range.