DISTURBANCE REJECTION IN DRIVELINE

A method comprises: generating a torque command for a motor of a vehicle, the torque command generated by a motor controller based at least in part on driver input; generating, by a feedback control scheme of the motor controller, a correction for the torque command; determining, by the motor controller, whether a lash crossing event is expected to occur within a time period; in response to a determination that the lash crossing event is expected to occur within the time period, modifying the torque command with the correction to generate a resulting torque command; and controlling the motor using the resulting torque command.