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The Homogeneous Charge Compression Ignition (HCCI) principle holds promise to increase efficiency and to reduce emissions from internal combustion engines. As HCCI combustion lacks direct ignition timing control and auto-ignition depends on the operating condition, control of auto-ignition is necessary. Since auto-ignition of a homogeneous mixture is very sensitive to operating conditions, a fast combustion phasing control is necessary for reliable operation. To this purpose, HCCI modeling and model-based control with experimental validation were studied. A six-cylinder heavy-duty HCCI engine was controlled on a cycle-to-cycle basis in real time by applying in-cylinder pressure feedback. A low-complexity physical model was developed, aiming at describing the major thermodynamic and chemical interactions in the course of an engine stroke. The model shows the importance of thermal interaction between the combustion and the cylinder walls.