Robust Control of the Air to Fuel Ratio in Spark Ignition Engines with Delayed Measurements from a UEGO Sensor

Table 3

Precision error and chattering evaluation for Type I and Type II controllers.

	With observers	Without observers
Control Type I	4.5%	10.7%
Control Type II	1.42%	2.6%
Ch
Control Type I	≈0%	2.5%
Control Type II	≈0%	1.43%