Nagashima, MasaakiLevine, William S.This paper is focused on idling. An engine model is developed. The engine model includes an airflow dynamics model, a combustion model, a fuel injection model, and a catalytic converter model. These models will be used to compare controllers. The idle controller, air / fuel ratio controller, and the emission controller that Honda uses are installed. The measured data and simulated data are compared to evaluate the accuracy of the model. A linear model is developed by linearizing at nominal points. With this linear model, new controllers are developed and compared to the existing controllers.en-USSensor-Actuator NetworksTechnical Report