Emission control is currently one of the biggest challenges and concerns in the automotive industry for cleaner diesel engines. Due to the low level of NO x emission enforced by the Environmental Protection Agency (EPA), selective catalytic reduction (SCR) technology is currently one of the most feasible solutions. SCR technology uses diesel exhaust fluid (DEF), which is a urea solution of 32.7% urea with 67.3% water to reduce NO x emission. The urea solution is converted to ammonia (NH 3 ), which reacts with NO x over a catalyst to form N 2 and water. In this paper, a practical and dynamic model for modeling and controlling ammonia surface coverage or storage on an SCR system with a vanadia-based catalyst is implemented. It also included modeling of NH 3 slip. This work was implemented on an electronic control module and tested on a medium-duty diesel engine. The improved NO x efficiencies observed with the corresponding reduction in urea usage illustrate a successful solution, indicating that this new dynamic modeling of ammonia surface coverage and its effective usage to manage urea dosing is a valuable tool for SCR aftertreatment systems.