Patent ID: 8185281

Claim:
A method for controlling a power train of a vehicle having a number of modes of operation, the method comprising the acts of: providing a first controller for controlling of a first function of the vehicle; providing at least one second controller for controlling of a second function of the vehicle; combining the first controller and the at least one second controller in a joint controller having a state observer and a number of controlling entities, the joint controller being operated by a set of formal controlling parameters assigned to the controlling entities, wherein the set of formal controlling parameters comprises a first main controlling parameter; and switching actual parameters of the set of formal controlling parameters according to a current mode of the number of modes of operation, wherein the actual parameter of the first main controlling parameter, during a first mode of operation of the number of modes of operation, corresponds to one of (C 0 B 0 ) −1 C 0 A 0 or −(C 0 B 0 ) −1 C 0 E 0 , where A 0 , B 0 and C 0 are matrices of the state observer of the joint controller.