Patent ID: 8892303

Claim:
A vehicle control device for controlling a motion state of a controlled object which moves or deforms, in accordance with a manipulated variable inputted from outside, the vehicle device comprising: an engine electronic control unit that is mounted to a vehicle and controls an engine of the vehicle; and a correction computing unit that is mounted to the vehicle and comprises: a dynamic characteristics description unit that includes a model element for simulating dynamic characteristics of motion or deformation of the controlled object, simulates, by using the model element, hysteresis characteristics caused during a process of motion or deformation of the controlled object based on at least one of an estimated value of the manipulated variable and an estimated value of a disturbance input inputted in the controlled object, and defines a control target index of a motion state of the controlled object related to the hysteresis characteristics; a correction amount computing unit that calculates a correction amount which adjusts the manipulated variable in such a way that the control target index related to the hysteresis characteristics defined by the dynamic characteristics description unit becomes a desired state; and a command output unit that corrects the manipulated variable based on the correction amount calculated by the correction amount computing unit to produce a command for the corrected manipulated variable, and that outputs the command to the controlled object, wherein the model element includes at least one of basic model elements configured by a parallel connection of: a first linear element that connects a first spring element and a first damper element in series; and a second linear element that is any one of a second spring element, a second damper element, or a parallel connection of the second spring element and the second damper element.