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This paper describes the development ofa robust feedback controller for the torqueconverter-clutch slip control system mounted in the Toyota A245E automatic trans-axle. H"t~ntro1 theory was applied as a systematic design method in order to ensure robust stability against large variation in characteristics under vehicle operating conditions and variation in liiction characteristics ofthe clutch induced by aging deterioration. This theory enables a detailed design in the frequency domain. As aresult, the control system achieves high levels ofresponse and reliability, which contribute to a large-scale reduction ofhel consumption.