Oxygen concentration setpoint modification

A method of controlling exhaust gas recirculation in an engine is provided. An amount of oxygen in an exhaust of an engine is measured. A desired intake manifold oxygen concentration is obtained. An exhaust gas recirculation rate to provide the desired intake manifold oxygen concentration is calculated based on the measured amount of oxygen in the exhaust. An exhaust gas recirculation valve is set based on the calculated exhaust gas recirculation rate.