Electronic throttle control

A throttle control apparatus and method is disclosed in a vehicle having a throttle valve with a default position intermediate a fully-closed position and a fully-open position, and a spring mechanism coupled to the throttle valve that creates torque to move the throttle valve toward the default position in the absence of other torque. The throttle control apparatus includes an actuator for generating torque to open and close the throttle valve in response to a control signal, wherein the actuator is attached to the throttle valve by a mechanical coupling having lash. The throttle control apparatus also includes a processor in communication with the actuator, the processor generating the control signal based upon a command signal. The processor executes a stored program including a portion to compare a new value of the command signal with a prior value of the command signal, and to generate the control signal as a function of the deviation between the new and prior values of the command signal.