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The most distinct advantage of the electric vehicle is its quick and precise torque generation. However, most electric vehicles developed to date have not yet utilized it. In this paper, two novel traction control techniques of an electric vehicle using this advantage are proposed. One is the modelfollowing control and the other is the optimal slip ratio control. The basic effectiveness of the proposed methods is demonstrated by real experiments using the dc-motor-driven test vehicle "UOT (University of Tokyo) Electric March."

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Abstruct-A new model for a room transfer function (RTF) by using common acoustical poles that correspond to resonance properties of a room is proposed. These poles are estimated as the common values of many RTF's corresponding to different source and receiver positions. Since there is one-to-one correspondence between poles and AR coefficients, these poles are calculated as common AR coefficients by two methods: i) using the least squares method, assuming all the given multiple RTF's have the same AR coefficients and ii) averaging each set of AR coefficients estimated from each RTF. The estimated poles agree well with the theoretical poles when estimated with the same order as the theoretical pole order. When estimated with a lower order than the theoretical pole order, the estimated poles correspond to the major resonance frequencies, which have high Q factors. Using the estimated common AR coefficients, the proposed method models the RTF's with different MA coefficients. This model is called the common-acoustical-pole and zero (CAPZ) model, and it requires far fewer variable parameters to represent RTF's than the conventional all-zero or polehero model. This model was used for an acoustic echo canceller at low frequencies, as one example. The acoustic echo canceller based on the proposed model requires half the variable parameters and converges 1.5 times faster than one based on the all-zero model, confirming the efficiency of the proposed model.