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Due to more stringent emission standards as well as customer requirements on performance improvement, model-based controls in diesel engines are becoming more and more common and necessary. In fact, as diesel engines becoming increasingly complicated with additional hardware components such as electonic throttle, EGR, VVT, VGT, as well as aftertreatment devices, the dynamics of the systems with more freedom of multiple actuators become much more sophisticated. With such complexity in the diesel engine systems, the traditional simple PI control, single-input single-output type of controls will not be good enough to address the multivariable interactions among subsystems, instead the advanced model-based, multi-input multi-output and coordinated supervisory controls almost become the only effective ways to improve system performance and achieve emission standards.