Patent ID: 7164247

Claim:
A motor torque control apparatus for an automotive vehicle, comprising: a transmission which has either one of a fixed speed ratio and a variable speed ratio; at least one motor-and-generator coupled with the transmission as a propelling power source of the vehicle, a power of the power source being transmitted to a road wheel for propulsion of the vehicle through the transmission; and a controller configured to be electrically connected to the motor-and-generator for motor torque control, the controller comprising (a) a disturbance observer that estimates a driving force; and (b) a motor torque control section that controls the driving force estimated by the disturbance observer, to bring the estimated driving force closer to a target driving force by way of servo controls, wherein the disturbance observer is configured to estimate the driving force of the vehicle from rotation speed of an output shaft of the transmission and a target motor torque for the motor-and-generator.