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Homogeneous charge compression ignition (HCCI) engines create a more efficient power source for either stationary power generators or automotive applications. Control of HCCI engines, however, is difficult since the ignition cannot be actuated directly. For the purpose of model-based analysis and control design, a crank-angle based HCCI engine model is developed in this paper based on experimental data from a single-cylinder engine. The zero-dimensional dynamic engine model is constructed based on conservation of mass and energy, and ideal gas law. Subsystems in this model included valve lift profile, cylinder volume, mass flow rate, intake and exhaust runner dynamics, cylinder dynamics, combustion model and heat-transfer model. Inputs to the model include engine speed, intake temperature, fueling rate, intake throttle and exhaust throttle positions.