US Patent 10392991 Ammonia sensor control, with NO

An exemplary method includes determining an NH3 reference target in an exhaust conduit between a first SCR catalyst and a second SCR catalyst. The method includes determining a present amount of NH3 in the exhaust conduit between the first SCR catalyst and the second SCR catalyst, and determining an NH3 error term in response to the NH3 reference target and the present amount of NH3. The method further includes determining an amount of NOx downstream of the second SCR catalyst, and adjusting one of the NH3 reference target and a reductant doser command in response to the amount of NOx downstream of the second SCR catalyst. The method further includes providing a reductant doser command in response to the NH3 error term.