Internal combustion engines (ICE) still have potential for substantial improvements, particularly regarding fuel efficiency and environmental compatibility. To fully exploit the remaining margins, increasingly sophisticated control systems must be applied. This book offers an introduction to cost-effective model-based control system design for ICE. The primary emphasis is on the ICE and its auxiliary devices. Mathematical models for these processes are developed, and solutions for selected feedforward and feedback control problems are presented. Discussions concerning pollutant emissions and fuel economy of ICE in automotive applications have intensified since the first edition of this book was published. Concerns about air quality, limited resources of fossil fuels, and the detrimental effects of greenhouse gases have spurred interest.