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Closed-loop robust control system that can monitor combustion state and control it into optimal state using crank angular velocity analysis was established. The system can be constructed without any change of the current hardware. It can avoid engine stall, deterioration of drivability and white smoke emission by misfire after filling low cetane fuels. This study was attempted to grasp the frequency characteristics of crank angular velocity both normal combustion and misfire with FFT (Fast Fourier Transform) and Wavelet Transform. FFT used for frequency analysis is generic method to acquire the frequency characteristics of steady oscillation, however is unsuitable for acquiring the frequency characteristics of transient oscillation. Therefore authors adopted Wavelet Transform and succeeded in grasping the phenomenon in misfiring in time sequential.