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Automotive industry has been developing technologies to reduce exhaust emission. Moreover, developing an environmentally friendly diesel engine will become the most important issue in the future engine technology. A modern well-tuned diesel engine no longer smokes and the noise has been attenuated to more acceptable levels. In spite of these efforts, emission of particulates and nitrogen oxides (NOx) have not been equally successful. Therefore, the accurate control method of diesel engines is coming up in solving the problems related with NOx and PM. The diesel engine is a highly nonlinear system and the modeling parameters are changed significantly for different operating points. Therefore, it is very difficult to control the diesel engine system accurately. Every engine system model is actually composed of a variety of maps. And then, actuators like dc motors are controlled for transferring the appropriate flow rate to the manifolds.