A system having a particulate matter sensor in an exhaust stream of an engine upstream from a particulate filter and another such sensor downstream from the filter. There may also be an exhaust gas recirculation (EGR) control on the engine. The amount of particulate matter in or loading of the filter may be determined by the upstream filter. The working condition of the filter may be determined by the downstream sensor. The filter may have a heater and control for providing operational and particulate matter burn-off temperatures to the filter. A processor may be connected to the sensors, the EGR control and the filter heater control.