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A novel controller based on the triple-step non-linear method is designed. The controller drives the non-linear system with time-varying parameters to track the variable ammonia coverage ratio. Unlike the existing triple-step non-linear method, the third design procedure in the proposed method is adjusted as an [Formula: see text] error feedback control. The proposed method provides a concise design process so that derivation of the control law can be simple and straightforward. The robustness of the controller against measurement noises and system uncertainties is analysed. A transient simulation is conducted to evaluate the effectiveness of the proposed control strategy.<\/jats:p>","DOI":"10.1177\/0142331216656754","type":"journal-article","created":{"date-parts":[[2016,7,20]],"date-time":"2016-07-20T20:52:07Z","timestamp":1469047927000},"page":"287-302","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":11,"title":["Modelling and control of urea-SCR systems through the triple-step non-linear method in consideration of time-varying parameters and reference dynamics"],"prefix":"10.1177","volume":"40","author":[{"given":"Jinghua","family":"Zhao","sequence":"first","affiliation":[{"name":"State Key Laboratory of Automotive Simulation and Control, Jilin University China"},{"name":"Computer College, Jilin Normal University, China"}]},{"given":"Yunfeng","family":"Hu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Automotive Simulation and Control, Jilin University 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