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1 introduction  1.1 introduction of automotive drivetrain    1.1.1 engine    1.1.2 clutch/torque converter    1.1.3 transmissions    1.1.4 propeller shaft and differential gear box    1.1.5 drive axle shaft    1.1.6 tires and vehicle  1.2 overview of automotive transmissions    1.2.1 hydraulic automatic transmission (at)    1.2.2 automated manual transmission (amt)    1.2.3 dual clutch transmission (dct)    1.2.4 continuously variable transmission (cvt)    1.2.5 final remark  1.3 why consider model-based control?    1.3.1 evolution of control systems for automotive powertrains    1.3.2 introduction of model-based design    1.3.3 application examples of model-based control  1.4 why consider nonlinear control?    1.4.1 necessity of nonlinear control    1.4.2 state-of-the-art of applied nonlinear control  1.5 structure of the text  references2 pressure estimation of a wet clutch  2.1 introduction  2.2 description and modeling of a powertrain system  2.3 clutch pressure estimation without consideration of drive shaft stiffness    2.3.1 clutch system modeling and problem statement    2.3.2 reduced-order nonlinear state observer    2.3.3 simulation results    2.3.4 design of full-order sliding mode observer and comparison  2.4 clutch pressure estimation when considering drive shaft stiffness    2.4.1 clutch system modeling when considering the drive shaft    2.4.2 design of reduced-order nonlinear state observer     2.4.3 simulation results  2.5 notes and references  references3 torque phase control of the clutch-to-clutch shift process  3.1 introduction  3.2 motivation of clutch timing control  3.3 clutch control strategy  3.4 simulation results    3.4.1 powertrain simulation model    3.4.2 simulation results  3.5 notes and references  references4 inertia phase control of the clutch-to-clutch shift process  4.1 introduction  4.2 two-degree-of-freedom linear controller    4.2.1 controller design    4.2.2 simulation results  4.3 nonlinear feedback-feedforward controller    4.3.1 clutch slip controller    4.3.2 simulation results  4.4 backstepping controller    4.4.1 nonlinear controller with iss property    4.4.2 implementation issues    4.4.3 controller of the considered clutch system    4.4.4 simulation results  4.5 backstepping controller for dcts    4.5.1 system modeling and problem statement    4.5.2 controller design    4.5.3 simulation results  4.6 notes and references  references5 torque estimation of the vehicle drive shaft  5.1 introduction  5.2 driveline modeling and problem statement    5.2.1 driveline modeling    5.2.2 estimation problem statement  5.3 reduced-order nonlinear shaft torque observer    5.3.1 structure of the observer    5.3.2 properties of the error dynamics    5.3.3 guideline of choosing tuning parameters    5.3.4 observer design for considered vehicle  5.4 simulation results    5.4.1 powertrain simulation model    5.4.2 simulation results  5.5 notes and references  references6 clutch disengagement timing control of amt gear shift  6.1 introduction  6.2 observer-based clutch disengagement timing control  6.3 clutch disengagement strategy  6.4 simulation results    6.4.1 simulation results with constant observer gain    6.4.2 simulation results with switched observer gains  6.5 notes and references  references7 clutch engagement control of amt gear shift  7.1 introduction  7.2 power-on upshift of amt    7.2.1 dynamics and control strategy    7.2.2 simulation results  7.3 power-on downshift of amt    7.3.1 dynamic process of power-on downshift    7.3.2 control problem descriptioh    7.3.3 controller design of torque recovery phase    7.3.4 simulation results  7.4 notes and references  references8 data-driven start-up control of amt vehicle  8.1 introduction  8.2 control requirements  8.3 data-driven start-up predictive controller of amt vehicle     8.3.1 subspace linear predictor    8.3.2 data-driven start-up predictor    8.3.3 predictive output equation    8.3.4 data-driven predictive controller witho