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An air-to-fuel ratio (A/F) modulation scheme is presented in which a linear feedback signal is generated from a heated exhaust gas oxygen (EGO) sensor. In this scheme, the engine A/F is modulated with a triangular waveform, and the mean value of the EGO output is obtained using a rolling average filter. The resulting output is linearly related to the exhaust A/F, and is used to provide closed-loop lean A/F operation following a cold start to enhance catalyst light-off and minimize vehicle exhaust emissions. Some engine-dynamometer results obtained using the method are presented.