“…The three properties (smaller IMEP variations, improved efficiency, and limited knock intensities) come from the ability of the proposed controller to maintain the spark advance closer to its ideal value, without constant exploration of its vicinity. Sweeps of the threshold θ have been performed in [15] and show an efficiency gain of 1% at constant knocking frequency. It can be seen that the controller is more sensitive in the protective direction than in the opposite direction, potentially leading to efficiency losses, but far less problematic than failures to protect the engine.…”