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Urea selective catalytic reduction (SCR) is a key technology for heavy-duty diesel engines to meet the increasingly stringent nitric oxides (NOx) emission limits of regulations. The urea water solution injection control is critical for urea SCR systems to achieve high NOx conversion efficiency while keeping the ammonia (NH3) slip at a required level. In general, an open loop control strategy is sufficient for SCR systems to satisfy Euro IV and Euro V NOx emission limits. However, for Euro VI emission regulation, advanced control strategy is essential for SCR systems due to its more tightened NOx emission limit and more severe test procedure compared to Euro IV and Euro V. This work proposed an approach to achieve model based closed loop control for SCR systems to meet the Euro VI NOx emission limits. A chemical kinetic model of the SCR catalyst was established and validated to estimate the ammonia storage in the SCR catalyst.