Method Of Controlling A Vehicle Drivetrain And Controller In The Drivetrain

A method of controlling a vehicle drivetrain by an electric motor, in order to synchronize the speed of an internal combustion engine and the speed of gears in the drivetrain, wherein if a speed synchronization error e(t) is controlled to remain within a prespecified region for a specific period of time, the synchronization is finished, and a gear may be engaged.