This paper presents two non-model-based reference-shaping and a model-based predictive urea-dosing controller for the Urea-SCR system. An ideal urea-dosing controller would minimize both tailpipe NOx and NH3 slip. However, this is not possible because of the trade-off between deNOx and NH3 slip. This trade-off is used to clearly define a control objective in terms of NH3 slip. Three controllers are then developed to meet this control objective such that they are all computationally inexpensive. The three controllers are then tested for three very different drive cycles. Simulation results show that the performance of the non-model based reference-shaping controllers is subjected to manual tuning of their variables. In contrast, the predictive controller, which is the highlight of this paper, can adapt to various drive cycles without compromising on the computational cost.