Engine and emissions control system

A method of controlling operation of a vehicle including a plurality of components configured to adjust operation of the vehicle, the method comprising:

• determining, at a supervisory controller, control variable set points for the one or more components of the vehicle based on control variable set points for the vehicle, the vehicle comprising the supervisory controller and one or more non-linear compensators, wherein the non-linear compensators are coupled to at least one of the plurality of components to control operation thereof;
• determining, at a non-linear compensator, manipulated variable set points for the at least one of the plurality of components based on the control variable set points for the at least one of the plurality of components by the use of a subsystem-specific implementation of a model based non-linear dynamic inversion control approach;
• and
• generating control signals from the non-linear compensator to the at least one of the plurality of components based on the manipulated variable set points to achieve the control variable set points for the vehicle.

A computer readable medium having stored thereon in a non-transitory state a program code for use by a computing device, the program code causing the computing device to execute a method for controlling operation of a vehicle including a plurality of components configured to adjust operation of the vehicle, and a plurality of sensors configured to sense parameters of the plurality of components, the method comprising:

• determining, at a supervisory controller, control variable set points for the plurality of components based on control variable set points;
• determining, at a non-linear compensator, manipulated variable set points for at least one of the plurality of the components based on the control variable set points for the at least one of the plurality of components and a subsystem specific implementation of a model based non-linear dynamic inversion control approach;
• and
• controlling the at least one of the plurality of components based on the manipulated variable set points to achieve the control variable set points.