This paper investigates the design of model-based feedforward compensators for exhaust gas recirculation (EGR) and variable geometry turbocharger (VGT) systems using air path models for a common-rail direct injection (CRDI) diesel engine to cope with the nonlinear control problem. The model-based feedforward compensators generate set-positions of the EGR valve and the VGT vane to track the desired mass air flow (MAF) and manifold absolute pressure (MAP) with consideration of the current engine operating conditions. In the best case, the rising time to reach 90% of the MAF set-point was reduced by 69.8% compared with the look-up table based feedforward compensators.

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