Method and apparatus for phase compensation in a vehicle control system

(57) When the time differential quotient of an input signal (u) exceeds a predetermined value in summary book invention, It is related with a method and equipment for the time differential quotient of the output signal (y) from the circuit (1) included in a control system to perform phase compensation in the control system of the motor drive vehicles restricted to the time differential quotient of the input signal (u) to a circuit (1). The difference signal (epsilon) between an output signal (y) and signal (x) to which a time differential quotient is not restricted to the time differential quotient of an input signal (u) and which is contained in a circuit (1) is formed. Filtering of this difference signal (epsilon) is gradually carried out through a stable filter (3), and it forms a signal (delta). This signal (delta) is fed back, is added to the input signal (u) of a circuit (1), and forms signal (x). The conventional rate limiter can be used for forming an output signal (y) from signal (x).