An advanced and practical fuel injection control system to reduce exhaust gas emissions has been developed. This control uses an exhaust air-fuel ratio (EAFR) sensor and a heated exhaust oxygen (HEO) sensor. The air fuel ratio of exhaust gas is precisely converged to stoichiometry. The integrated deviation of the mass of fuel inducted into the cylinder is rapidly converged to zero, so as to maximize the conversion efficiency of catalysts. The controller is derived from the models that express the dynamic phenomena. The experimental results show the effectiveness of this system for future exhaust emissions and enhanced evaporative emissions.