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A control intended data driven B-spline model for NO x and soot emitted was developed and validated for the 5-cylinder, 2.4-litre Volvo passenger car diesel engine in earlier work. This work extends on the same methodology with some improvements on the model structure for more intuitive calibration and is also developed for the new generation 4-cylinder, 2litre Volvo passenger car diesel engine. The earlier model was validated using steady state engine measurements and proposed that the modeldoi:10.1016/j.ifacol.2016.08.001 fatcat:w5u626pvtbdefk64r66nvkrwjq