Date of Award


Publication Type

Master Thesis

Degree Name



Electrical and Computer Engineering

First Advisor

Xiang Chen

Second Advisor

Ming Zheng


Applied sciences




Exhaust Gas Recirculation (EGR) valves have been used in diesel engine operation to reduce NOx emissions. In EGR valve operation, the amount of exhaust gas re-circulating back into the intake manifold is controlled through the open position of the valve plate to keep the combustion temperature lower for NOx emission reduction. Most of the control methods do not provide sufficient control accuracy on the valve position and the response time. Here, the model of a motor driven EGR valve is first identified through experiments and then the Generalized Predictive Control (GPC) method is applied to control the plate position of the valve. At the next step, to have a faster and more accurate control of the valve the torque generated by the spring connected inside the valve is estimated. The spring torque is considered as an external disturbance torque and three filters: Kalman, H∞ and H∞ Gaussian Filters are used to estimated this torque.