-Rankine-cycle Waste Heat Recovery (WHR) systems are promising solutions to reduce fuel consumption for trucks. Due to coupling between engine and WHR system, control of these complex systems is challenging. This study presents an integrated energy and emission management strategy for an Euro-VI Diesel engine with WHR system. This Integrated Powertrain Control (IPC) strategy optimizes the CO 2 -NO x trade-off by minimizing online the operational costs associated with fuel and AdBlue consumption. Contrary to other control studies, the proposed control strategy optimizes overall engine-aftertreatment-WHR system performance and deals with emission constraints. From simulations, the potential of this IPC strategy is demonstrated over a World Harmonized Transient Cycle (WHTC) using a highfidelity simulation model. These results are compared with a state-of-the-art baseline engine control strategy. By applying the IPC strategy, an additional 2.6% CO 2 reduction is achieved compare to the baseline strategy, while meeting the tailpipe NO x emission limit. In addition, the proposed low-level WHR controller is shown to deal with the cold start challenges.