Abstract： Electronic throttle is a key actuator of the gasoline engine. Due to the effects of frictions and the nonlinear return spring, the throttle control system design is difficult. In this paper, an electronic throttle system model was constructed and system parameters were identified through the system identification method. Then, a feedforward compensation controller was designed based on the model of friction and nonlinear return spring. And an H infinity controller was designed based on the compensated system which was modeled as a linear system. After that, the H infinity controller was discretized for implementation. Because of the controller discretization, the performance of the H infinity controller declined slightly, and, therefore, a proportional control was added to improve the control performance. Finally, experimental verification was conducted which showed that the designed electronic throttle control system could meet the design requirements.