In one example, a system for a vehicle traveling on the road is described. The system includes a first cylinder; a second cylinder; a linear exhaust gas sensor coupled exclusively to said first cylinder; a switching exhaust gas sensor coupled exclusively to said second cylinder; and a controller configured to operate in a first mode with both said first and second cylinders carrying out lean combustion, where fuel injection amounts to each of said first and second cylinder are adjusted based on said linear sensor; said controller further configured to operate in a second mode with both said first and second cylinders carrying out combustion about stoichiometry, where fuel injection amounts to at least one of said first and second cylinder are adjusted based on said switching sensor.