“…In order to improve the CVT energy efficiency and performance, several advances have been proposed in the literature. These include physically redesigning the CVT, by developing on-demand actuation systems [33] and belt design [34], [35], as well as improving the control strategy, e.g., the variator slip control strategy [36]. However, to the best of the authors' knowledge, the existing strategies treated the system design problem as two separate sub-problems, disconnecting the plant and its controller.…”