This paper develops a nonlinear charge controller for gasoline direct injection engines. The problem is to control the electronic throttle and the EGR valve to achieve the desired intake manifold pressure and the EGR flow. The control design is based on a variant of a Lyapunov design procedure, the so called Speed-Gradient approach. This methodology is reviewed, the controller for the electronic throttle and the EGR valve is derived in conjunction with an observer for the EGR flow, stability of the closed loop system is rigorously analyzed and experimental results demonstrating controller performance are reported.