Waste Heat Recovery (WHR) systems based on the Organic Rankine Cycle (ORC) are an interesting technology to increase fuel efficiency of vehicles. This paper proposes a cascade control scheme to regulate the temperature of the cooling system of an electrically turbocharged natural gas engine for a heavy duty vehicle, using an ORC. To do so, the LPV framework is used to both identify a model and control ORC superheat. Then, an additional loop is used to control the reference superheat. The resulting control system allows correct operation of the ORC under investigation.