Nowadays, electronic throttle control system is widely adapted in the motorcycle for better drivability, fuel economy and reduces the emissions. In such systems, pedal follower or torque based approach are used for calculating the required throttle angle for the given torque demand by driver. This work presents a throttle control system for the precise estimation of throttle angle based on the integrated pedal follower and torque based approach for the given accelerator position and torque demand by the driver. A mathematical model for an electronic throttle body is developed to understand the effects of nonlinearities due to friction and limp home dual springs. A PID controller with compensators are developed to handle the nonlinearities due to the friction and limp home dual springs in the proposed electronic throttle control system. A simulation study has been carried out using software in loop and hardware in loop simulation approaches for step, sinusoidal, and ramp input signals. The responses of electronic throttle body for opening the throttle angle and error are analyzed for the given input signals. The simulation result shows that the proposed compensators has significant advantage in reducing the throttle angle error and gives the desired output.