This paper extends Garafalo et al. 2001 and Glielmo et al. (2003) where a two input/two output linear dynamic model of a clutch is used as a design model for a linear, decoupling controller which was simulated with excellent results against a nominal sixth order hybrid "truth model" of the driveline. Here, the same design model is used with uncertain parameters, and in addition, an uncertain controller gain, to reflect the uncertainty at vehicle launch. A linear controller is designed by QFT. A comparison is made with the nominally decoupling controller, by simulating the sixth order "truth model" with uncertainty.
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