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This paper presents a monitoring, feedback and control system for SCR urea dosing utilizing an embedded model and NH3 sensing after the SCR for loop closing control. A one-dimensional SCR model was developed and embedded in a Simulink/Matlab environment. This embedded model is utilized for on-line, real time control of 32.5% aqueous urea dosing in the exhaust stream. Engine testing and simulation are used with the embedded SCR model and NH3 sensor closed loop feedback to demonstrate the advantages of this control approach for meeting both NOx emission requirements and NH3 slip targets. The paper explores these advantages under heavy duty FTP cycle conditions. The potential benefits include SCR size optimization and fuel consumption rate reduction under certain operating conditions.