ACTIVE DAMPING CONTROL WITHIN A SUPERVISORY CONTROL STRUCTURE

An electrified powertrain that generates and transfers drive torque to a driveline of a hybrid electric vehicle includes a first electric motor, a second electric motor and a controller. The first electric motor includes a first electric motor output. The second electric motor includes a second electric motor output. The controller is configured to: receive a driver torque request; determine an open loop motor torque command based on the driver torque request; and determine a shaped torque command based on the open loop motor torque command, including identifying a lash zone, requesting motor torque from at least one of the first and second electric motors to cross the lash zone, and, subsequent to crossing the lash zone, providing motor torque to meet the driver torque request.