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An improved model-based two-degree of freedom control system for the intake manifold pressure in passenger car diesel engines is described in this paper. The aim of this control system is to track the air charge setpoint rapidly and precisely. To achieve this, an inverse model of the intake manifold dynamics is included in the feedforward control path. The system parameters which are necessary to calculate the inverse model are setpoints from other control loops in the gas system. These generated setpoint values allow for decoupling of the individual control loops in the gas system as far as possible. The parallel linear feedback controller is designed to further improve the accuracy of the control system. The calculated feedforward control signal and the feedback control variable additively generate the effective opened area of the intake throttle valve.