Patent ID: 7167790

Claim:
A control system for controlling a control target apparatus provided to an engine, the control system comprising: a main ECU for calculating at least one operational command value according to an operational state of the engine, wherein the at least one operational command value is used to operate the control target apparatus; and a sub-ECU, which is independent of the main ECU, wherein: the sub-ECU controls the control target apparatus non-autonomously and autonomously; in non-autonomous control of the control target apparatus, the sub-ECU corrects the at least one operational command value, which is calculated by the main ECU, based on at least one of the followings: the operational state of the engine; and a correction value, which is stored in a storage of the sub-ECU to correct the at least one operational command value; the sub-ECU non-autonomously controls the control target apparatus by use of the corrected at least one operational command value corrected by the sub-ECU; and in autonomous control of the control target apparatus, the sub-ECU autonomously controls the control target apparatus independently of the main ECU, when at least one of the following conditions is satisfied: a predetermined external operational command, which commands the sub-ECU to autonomously control the control target apparatus independently of the main ECU, is given to the sub-ECU; an operational delegation command, which allows the sub-ECU to autonomously control the control target apparatus independently of the main ECU, is given to the sub-ECU by the main ECU; and the engine is operated under a predetermined operational state.