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Constrained motion planning for the airpath of a Diesel HCCI engine Jonathan Chauvin, Gilles Corde, and Nicolas Petit Abstract— A constrained motion planning control strategy is proposed for the airpath control of turbocharged Diesel engines using exhaust gas recirculation (EGR). The considered model uses simple balance equations. The fully actuated dynamics are easily inverted, yielding straightforward open-loop control laws. Yet, practical constraints need to be accounted for. Convergence is proven and stress that saturation of infeasible control values yields longer yet successful transients. This fact is supported by reported extensive experimental tests on a 4-cylinder engine in Homogeneous Charge Compression Ignition (HCCI) mode. Conclusions stress the possibility of taking into account the non- minimum phase effects of this system by a simple, yet efficient and realistic in practice, control law. I. INTRODUCTION Performance and environmental requirements of Diesel engines have steadily increased over the last thirty years, which in turn has required an increase in the sophistication of employed control strategies. Advances in model based control over this period have been one of the keys in meeting the demands placed on modern combustion technologies. Lately, the Highly Premixed Combustion mode (HPC) – in- cluding Homogeneous Charge Compression Ignition (HCCI) – has become of major interest. It requires the use of high Exhaust Gas Recirculation (EGR) rates. The key idea is that the recirculated burned gas lower the in-cylinder temperature and dilute the air charge which reduces the emissions of nitrogen oxides. Simultaneous ignition in the whole combustion chamber is performed and controlled. Significant reduction in pollutants emission was proven in practice through numerous experiments (see [14], [8], [21], [3] for example). In that combustion mode, the core variable is the Burned Gas Rate (BGR) in the intake manifold (see Figure 1). BGR Offsets may cause m