Clutches are widely used in transmissions of hybrid electric and conventional vehicles. Smooth clutch engagement is a prerequisite for good drivability. A nonlinear control to smoothly engage a clutch is proposed. The control does not use the clutch torque capacity to control clutch slip. Instead, it regulates the torque applied to the inertia at the clutch input. The control requires very little calibration. Simulation results are presented. Theoretical proofs for stability and robustness are also included.

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