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Exhaust Gas Recirculation (EGR) valves have been used in diesel engine operation to reduce NOx emissions. In EGR valve operation, the amount of exhaust gas re-circulating back into the intake manifold is controlled through the open position of the valve plate to keep the combustion temperature lower for NOx emission reduction. Different methods have been proposed to control the EGR valve. However, most of the approaches do not have the desired accuracy and the response time, which is critical for the after-treatment performance in low temperature diesel combustion. In this paper, the model of a motor driven EGR valve is first identified through experiments and then the Generalized Predictive Control (GPC) method which is an effective Model Predictive Control (MPC) method is applied to control the plate position of the valve.