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As engines advance toward greater efficiency and lower emissions, there is increasing need for accurate real-time residual models for engine control. Both the formulation of real-time-capable models and the development of methods for measuring or estimating residuals during engine calibration have been difficult and longstanding problems. This paper describes development of a low-cost, easy-to-use tool for on-line residual estimation in all cylinders of an IC engine. The basic method, hardware required, and software structure are described. The residual estimation tool was applied to estimate residuals over the operating map in all cylinders of a six-cylinder direct-injection SI engine equipped with dual-independent phasers. The data was used to calibrate a real-time residual model integrated into the engine management system. Validation data confirming accuracy of the model are presented.