Adaptive model predictive control of an SCR catalytic converter system for automotive applications

Thomas L. McKinley, Andrew G. Alleyne

Research output: Contribution to journalArticlepeer-review


Selective catalytic reduction (SCR) is coming into worldwide use for diesel engine emissions reduction of on-and off-highway vehicles. These applications are characterized by broad operating range as well as rapid and unpredictable changes in operating condition. Significant nonlinearity, input, and output constraints, and stringent performance requirements have led to the proposal of many different advanced control strategies. This article introduces a model predictive feedback controller based on a nonlinear, reduced order model. Computational effort is significantly reduced through successive linearization, analytical solutions, and a varying terminal cost function. A gradient-based parameter adaptation law is employed to achieve consistent performance. The controller is demonstrated in simulation for an on-highway heavy-duty diesel engine over two widely different emissions test cycles and for 24 different plants. Comparisons with baseline control designs reveal the attractive features as well as the limitations of this approach.

Original languageEnglish (US)
Article number6065770
Pages (from-to)1533-1547
Number of pages15
JournalIEEE Transactions on Control Systems Technology
Issue number6
StatePublished - 2012
Externally publishedYes


  • Diesel engines
  • exhaust gas aftertreatment
  • model predictive control (MPC)
  • nonlinear systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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