We propose a hybrid control system performing set-point regulation of an exhaust gas recirculation valve of a Diesel engine. The control technique is based on a first-order reset element (FORE) embedded with an adaptive feedforward action whose aim is to provide asymptotic rejection of disturbances acting at the plant input. The feedforward action is adapted by suitable resetting laws occurring whenever the FORE is reset to zero. We first provide a formal analysis of the effectiveness of the adaptive reset system to guarantee asymptotic set-point regulation, and then, we illustrate how the adaptive feedforward can be parameterized for improved transient performance. We experimentally illustrate the proposed solution on a Diesel engine testbench, which reveals substantial position accuracy improvement during a standard driving cycle, as compared with the production standard solution.