SHAFT TORQUE CONTROL DEVICE

A shaft torque control device includes a feedback control system having: a generalized plant P including a nominal plant model N representing the input/output characteristic of a test system including a tandem dynamometer system; and a controller K for applying a first and second control inputs u, u to the generalized plant P on the basis of a first observed output y and second observed output y. The controller K has been designed using a computer so as to satisfy a prescribed design condition. For the generalized plant P, defined are: a first control amount output z resulting from weighting the first observed output y using a weighting function Ge(s); a second control amount output z resulting from weighting a front transmission torque t using a weighting function Gt(); and a third control amount output z resulting from weighting a rear transmission torque t using a weighting function Gt().