Apparatus and method for controlling internal combustion engines equipped with EGR

The engine control system (10) having an exhaust gas recirculation (EGR) valve (34) comprising: a first module (402) that determines an EGR error; and a second module (406) that calculates a fuel injection timing on the basis of the EGR error, the operation of a motor (12) is controlled on the basis of the fuel injection timing in order to reduce emissions during transient operation; characterized, in that the first module (402) determines the EGR error based on a target value of EGR and an estimated EGR, of a fourth module (400) on the basis of a mass air flow (MAF) and a load flow (CF) is performed, that the mass air flow using a MAF sensor (47) and the loading flow on the basis of an engine speed, a manifold absolute pressure (MAP), an intake manifold temperature and the volumetric efficiency of the engine (12) is determined.