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Nissan Motor has put on the European SUV market a 2.2-L direct-injection diesel engine with a diesel particulate filter (DPF) system that complies with the EURO IV emission regulations. This paper describes the DPF system, cooperative control of a variable geometry turbo (VGT) and exhaust gas recirculation (EGR), and a high-accuracy lambda control adopted for this engine. In order to achieve a compact DPF, the high-accuracy lambda control was developed to reduce variation in engine-out particulate matter (PM) emissions. Moreover, the accuracy of the technique for predicting the quantity of PM accumulation was improved for reliable detection of the DPF regeneration. Prediction error for PM accumulation increases during transient operation. Control logic was adopted to correct the PM prediction according to lambda fluctuation detected by an observer for lambda at cylinder under transient operating conditions. The observer is corrected lambda sensor output.