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Achieving upcoming HD emissions legislation, Euro VI/EPA 10, is a challenge for all engine manufacturers. A likely solution to meet the NOx limit is to use a combination of EGR and SCR. Combining these two technologies poses new challenges and possibilities when it comes to optimization and calibration. Using a complete system approach, i.e., considering the engine and the aftertreatment system as a single unit, is important in order to achieve good performance. Optimizing the complete system is a tedious task; first there are a large number of variables which affect both emissions and fuel consumption (injection timing, EGR rate, urea dosing, injection pressure, pilot/post injections, for example). Secondly, the chemical reactions in the SCR catalyst are substantially slower than the dynamics of the diesel engine and the rest of the system, making the optimization problem time dependent.