A novel compact five-speed automatic transmission was developed without the addition of a gear unit, using the same gear train as that of the four-speed automatic transmission, with two gear units connected in series for the multiplication of the gear ratios of individual gear units. A synchronous shift control technology was established to allow the synchronous shifting of two gear units in opposite directions despite the dynamic interference between them, using two-input/two-output robust servo controller. The design technique of the servo controller is described.
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