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In order to reduce CO2 emissions in the automotive industry, there is a trend to decrease the size of the engines and add turbocharging technologies to increase the engine efficiency while keeping performances. In this context, numerous studies have focused on the improvement of turbocharger control strategies. The strategy proposed in this paper is based on constrained motion planning and feedback linearization applied to a simplified model of the system. It takes advantage of the whole system bandwidth and requires a limited calibration effort. Thanks to its structure, it offers an interesting potential for generalization to more complex turbocharging systems. Extensive experimental tests are reported for a four-cylinder gasoline engine.