In cognitive relay networks, the transmission of Secondary Users (SUs) suffers from the activity of Primary Users (PUs) and wireless channel fading. Therefore, how to achieve robust transmission for cognitive rela...In cognitive relay networks, the transmission of Secondary Users (SUs) suffers from the activity of Primary Users (PUs) and wireless channel fading. Therefore, how to achieve robust transmission for cognitive relay networks is a challenging task. In this paper, we propose a relaying transmission scheme which exploits robust beamforming at the physical layer and rateless codes at higher layers. We derive the optirml beamforng weight vector and analyze the perforrmnce of the pro- posed scheme when the channel estirmtion is not accurate between two SU nodes. We also study how the anaount of channel information between SU and PU impacts the system perforroance. Sinlation results validate our theoretical analysis and demonstrate that the proposed scheme can signifi- cantly enhance the system throughput.展开更多
The normal H ∞ control design deals with both plant modeling uncertainties and exogenous signal uncertainties by constructing a controller which stabilizes uncertain li near systems while satisfying an H ∞ norm ...The normal H ∞ control design deals with both plant modeling uncertainties and exogenous signal uncertainties by constructing a controller which stabilizes uncertain li near systems while satisfying an H ∞ norm bound constraint on disturbance attenuation for all admissible uncertainties. However, the control design may result in unsatisfactory performances or even instabilities in the event of sensor failures in practical plants. This paper focuses on the problem of the design of robust reliable H ∞ control for a class of time varying uncertainty system with sensor failures. The paper presents a novel technique which deal with this problem by solving three linear matrix inequalities (LMIs). The strict proof guarantees the feasibility of this approach.展开更多
The development of robust damage detection methods for offshore structures is crucial to prevent catastrophes caused by structural failures. In this research, we developed an Improved Modal Strain Energy (IMSE) meth...The development of robust damage detection methods for offshore structures is crucial to prevent catastrophes caused by structural failures. In this research, we developed an Improved Modal Strain Energy (IMSE) method for detecting damage in offshore platform structures based on a traditional modal strain energy method (the Stubbs index method). The most significant difference from the Stubbs index method was the application of modal frequencies. The goal was to improve the robustness of the traditional method. To demonstrate the effectiveness and practicality of the proposed IMSE method, both numerical and experimental studies were conducted for different damage scenarios using a jacket platform structure. The results demonstrated the effectiveness of the IMSE method in damage location when only limited, spatially incomplete, and noise-polluted modal data is available. Comparative studies showed that the IMSE index outperformed the Stubbs index and exhibited stronger robustness, confirming the superiority of the proposed approach.展开更多
As an effective and universal acaricide, amitraz is widely used on beehives against varroasis caused by the mite Varroa jacobsoni. Its residues in honey pose a great danger to human health. In this study, a sensitive,...As an effective and universal acaricide, amitraz is widely used on beehives against varroasis caused by the mite Varroa jacobsoni. Its residues in honey pose a great danger to human health. In this study, a sensitive, rapid, and environmentally friendly surface-enhanced Raman spectroscopy method (SERS) was developed for the determination of trace amount of amitraz in honey with the use of silver nanorod (AgNR) array substrate. The AgNR array substrate fabricated by an oblique angle deposition technique exhibited an excellent SERS activity with an enhancement factor of -10^7. Density function theory was employed to assign the characteristic peak of amitraz. The detection of amitraz was further explored and amitraz in honey at concentrations as low as 0.08 mg/kg can be identified. Specifically, partial least square regression analysis was employed to correlate the SERS spectra in full-wavelength with Camitraz to afford a multiple-quantitative amitraz predicting model. Preliminary results show that the predicted concentrations of amitraz in honey samples are in good agreement with their real concentrations. Compared with the conventional univariate quantitative model based on single peak’s intensity, the proposed multiple-quantitative predicting model integrates all the characteristic peaks of amitraz, thus offering an improved detecting accuracy and anti-interference ability.展开更多
A metal rod is used in the high temperature testing for ultrasonic propagation and heat output, but the trailing ech- oes generated by ultrasonic penetration through the metal rod seriously affect the recognition and ...A metal rod is used in the high temperature testing for ultrasonic propagation and heat output, but the trailing ech- oes generated by ultrasonic penetration through the metal rod seriously affect the recognition and extraction of characteristic signals. According to the phenomenon, the Finite Element Method (FEM) is used to analyze ultrasonic penetration through a metal rod, the reason of the trailing echoes and the regularity of ultrasonic signals. The motion equation of ultra- sonic propagation in a metal rod is established and calculated, then the simulation signals and instantaneous eartographies of the process are obtained. Based on the results of the analysis, it can be concluded that the intervals of the trailing echoes are de- termined by the rod' s diameter and wave velocity. In practical applications, the FEM is used to analyze ultrasonic propagation in the designed buffer rod at first. Based on the characteristics of the simulation signals, the material and dimension are ad- justed and selected, aiming to identify the characteristic echo and trailing echoes in time domain and extract characteristic echo from the ultrasonic signals available.展开更多
In order to improve the video transmission performance in Multiple-Input Multiple-Output Orthogonal Frequency Division Multiplexing (MIMO-OFDM) system, a new scheme, which integrates Multiple Description Coding (MD...In order to improve the video transmission performance in Multiple-Input Multiple-Output Orthogonal Frequency Division Multiplexing (MIMO-OFDM) system, a new scheme, which integrates Multiple Description Coding (MDC), Low Density Parity Check (LDPC) coding and hybrid space time coding, is proposed in this letter. In particular, a hybrid space time coding algorithm is combined with LDPC codes to perform Unequal Error Protection (UEP) of MDC encoded video streams. Comparing with the UEP transmission with only LDPC codes, the proposed scheme achieves more than ldB gain in terms of Signal to Noise Ratio (SNR) when the Peak Signal to Noise Ratio (PSNR) of reconstructed video is above 30dB.展开更多
As an experimental technique, it’s desired that the temperature in specimen is uniform in high temperature split Hopkinson pressure bar (SHPB) experiments. However, the temperature in specimen decreases and the tempe...As an experimental technique, it’s desired that the temperature in specimen is uniform in high temperature split Hopkinson pressure bar (SHPB) experiments. However, the temperature in specimen decreases and the temperature of bars increases when specimen starts to contact with bars, which induces the nonuniform temperature distribution in specimen, and may result in inac-curacy of experimental results. In this paper, the temperature distributions of specimen and bars in high temperature SHPB experiments were investigated while the specimen was heated alone. Firstly, the temperature history of specimen was measured at different initial temperatures by ex-periments, then simulation was carried out. Simulation results were consistent with experimental results by adjusting the thermal contact coefficient between specimen and bars. By this way, the thermal contact coefficient and simulation results were validated, and the proper cold contact times of specimen and bars in high temperature SHPB experiments were discussed. Finally, the results were compared with those in references.展开更多
This paper addresses the problem of robust Fault-Tolerant (FT) design for large-scale systems. This particular class constitutes complex system which can be decomposed into N-interconnected subsystems. Special atten...This paper addresses the problem of robust Fault-Tolerant (FT) design for large-scale systems. This particular class constitutes complex system which can be decomposed into N-interconnected subsystems. Special attention is paid to two different design architectures of an Active Fault-Tolerant Control (AFTC). An AFTCS is characterized by an online Fault Detection and Isolation (FDI) process and a control reconfiguration mechanism. As the AFTC system offers the possibility to choose different controllers, the controller may be the most appropriate choice for the faulty situation and obtaining better performance. The goal of each adaptive controller is to accommodate sensor anomalies. Continuous, Linear and Time Invariant (LTI) complex system with faulty sensors and external disturbances is proposed. This study focuses on two different internal structures of the system. In this paper the direct adaptive method based on feedback controller design is applied both centralized and decentralized architectures. The controller gain is updated online using an adaptive law which takes into account the estimation of the faults and the disturbances. Then from the both classes of systems structures the adaptation controller performances, in terms of stability and fault effect rejection capability, are studied and compared. The proposed techniques are finally evaluated in the light of a simulation for a centralized interconnected system that can be decomposed into N-subsystems with some strong interconnections.展开更多
ZnO nanorods, with the c-axis orientation used for transparent conductors, solar cells, sensors especially the functionalized ZnO nanorods with some kinds of enzymes have been used for biosensor. In this work, we desc...ZnO nanorods, with the c-axis orientation used for transparent conductors, solar cells, sensors especially the functionalized ZnO nanorods with some kinds of enzymes have been used for biosensor. In this work, we describe the process immobilization of galactose oxidase on ZnO nanorods surface with glutaraldehyde as a cross-linker molecule to make the working electrode in electrochemical biosensor. ZnO nanorods were grown on FTO (Fluorine-doped tin oxide) substrate by solution method at low temperature. The crystalline phase and orientation of ZnO nanorods were identified using X-ray diffraction. The efficiency of the immobilization was calculated by Braford method showed that about 36% enzyme content was immobilized on ZnO nanorods surface. The working electrode based on the immobilized ZnO nanorods was tested in galactose solution by CV (cyclic voltammetry) method indicated the value of current intensity is about 0.14 μA. These results clearly demonstrate the potential of galactose sensor based on ZnO nanorod.展开更多
Li3VO4 shows great potential as an intercalation/de-intercalation type anode material for energy-storage devices. Morphology tailoring and surface modification are effective to enhance its lithium storage performance....Li3VO4 shows great potential as an intercalation/de-intercalation type anode material for energy-storage devices. Morphology tailoring and surface modification are effective to enhance its lithium storage performance. In this work, we fabricate carbon coated Li3VO4(C@LVO) rods by a facile morphology inheritance route. The as-prepared C@LVO rods are 400–800 nm in length and 200–400 nm in diameter,and orthorhombic phase with V5+. The unique core-shell rods structure greatly improves the transport ability of electrons and Li+. Such C@LVO submicron-rods as anode materials exhibit excellent rate capability(a reversible capability of 460,438, 416, 359 and 310 m A h g^-1 at 0.2, 1, 2, 5 and 10 C, respectively) and a high stable capacity of 440 and 313 m A h g^-1 up to 300 cycles at 0.2 and 5 C, respectively.展开更多
In order to obtain the robust high-resolution beamforming, a high order cross sensor processing(CSP) approach is developed. According to the relation ship between the target bearing and the phase difference of each el...In order to obtain the robust high-resolution beamforming, a high order cross sensor processing(CSP) approach is developed. According to the relation ship between the target bearing and the phase difference of each element receiving signal, this method exploits the property that the same diagonal of covariance matrix with the same phase difference and obtains(2M-1)(N-1)virtual elements(N is the original array number) by executing M order CSP. The extended virtual elements can effectively increase the physical aperture of linear array, reduce the main lobe width of beam-forming, and improve the bearing resolution. The CSP method accumulates the data on the same sub-diagonal of the covariance matrix, which can decrease the impact of background noise on beam-forming. The theoretical analysis and experimental results both show that this method has high resolution in bearing estimation, compared with the MUSIC method, which has better robustness under the lower signal-to-noise ratio(SNR).展开更多
Robust flutter analysis considering model uncertain parameters is very important in theory and engineering applications.Modern robust flutter solution based on structured singular value subject to real parametric unce...Robust flutter analysis considering model uncertain parameters is very important in theory and engineering applications.Modern robust flutter solution based on structured singular value subject to real parametric uncertainties may become difficult because the discontinuity and increasing complexity in real mu analysis.It is crucial to solve the worst-case flutter speed accurately and efficiently for real parametric uncertainties.In this paper,robust flutter analysis is formulated as a nonlinear programming problem.With proper nonlinear programming technique and classical flutter analysis method,the worst-case parametric perturbations and the robust flutter solution will be captured by optimization approach.In the derived nonlinear programming problem,the parametric uncertainties are taken as design variables bounded with perturbed intervals,while the flutter speed is selected as the objective function.This model is optimized by the genetic algorithm with promising global optimum performance.The present approach avoids calculating purely real mu and makes robust flutter analysis a plain job.It is illustrated by a special test case that the robust flutter results coincide well with the exhaustive method.It is also demonstrated that the present method can solve the match-point robust flutter solution under constant Mach number accurately and efficiently.This method is implemented in problem with more uncertain parameters and asymmetric perturbation interval.展开更多
For a single-motor parallel hybrid electric vehicle, during mode transitions (especially the transition from electric drive mode to engine/parallel drive mode, which requires the clutch engagement), the drivability ...For a single-motor parallel hybrid electric vehicle, during mode transitions (especially the transition from electric drive mode to engine/parallel drive mode, which requires the clutch engagement), the drivability of the vehicle will be signifi- cantly affected by a clutch torque induced disturbance, driveline oscillations and jerks which can occur without adequate controls. To improve vehicle drivability during mode transitions for a single-motor parallel hybrid electric vehicle, two controllers are proposed. The first controller is the engine-side controller for engine cranking/starting and speed synchronization. The second controller is the motor-side controller for achieving a smooth mode transition with reduced driveline oscillations and jerks under the clutch torque induced disturbance and system uncertainties. The controllers are all composed of a feed-forward control and a robust feedback control. The robust controllers are designed by using the mu synthesis method. In the design process, control- oriented system models that take account of various parameter uncertainties and un-modeled dynamics are used. The results of the simulation demonstrate the effectiveness of the proposed control algorithms.展开更多
基金Acknowledgements The authors would like to thank the editor and anonymous reviewers for their detailed reviews and constructive comments, which have helped to greatly improve the quality of this paper. This work was supported by the National Natural Science Foundation of China under Grants No. 60832008, No. 60902001 Beijing Natural Science Foundation Program and Scientific Research Key Program of Beijing Municipal Commission of Education under Grant No. KZ201010009009 the Tsinghua National Laboratory for Infomation Science and Technology (TNList) Cross-discipline Foundation.
文摘In cognitive relay networks, the transmission of Secondary Users (SUs) suffers from the activity of Primary Users (PUs) and wireless channel fading. Therefore, how to achieve robust transmission for cognitive relay networks is a challenging task. In this paper, we propose a relaying transmission scheme which exploits robust beamforming at the physical layer and rateless codes at higher layers. We derive the optirml beamforng weight vector and analyze the perforrmnce of the pro- posed scheme when the channel estirmtion is not accurate between two SU nodes. We also study how the anaount of channel information between SU and PU impacts the system perforroance. Sinlation results validate our theoretical analysis and demonstrate that the proposed scheme can signifi- cantly enhance the system throughput.
文摘The normal H ∞ control design deals with both plant modeling uncertainties and exogenous signal uncertainties by constructing a controller which stabilizes uncertain li near systems while satisfying an H ∞ norm bound constraint on disturbance attenuation for all admissible uncertainties. However, the control design may result in unsatisfactory performances or even instabilities in the event of sensor failures in practical plants. This paper focuses on the problem of the design of robust reliable H ∞ control for a class of time varying uncertainty system with sensor failures. The paper presents a novel technique which deal with this problem by solving three linear matrix inequalities (LMIs). The strict proof guarantees the feasibility of this approach.
基金Supported by the National Natural Science Foundation of China (51209189, 51379196), and the Natural Science Foundation of Shandong Province (ZR2013 EEQ006, ZR2011 EL049)
文摘The development of robust damage detection methods for offshore structures is crucial to prevent catastrophes caused by structural failures. In this research, we developed an Improved Modal Strain Energy (IMSE) method for detecting damage in offshore platform structures based on a traditional modal strain energy method (the Stubbs index method). The most significant difference from the Stubbs index method was the application of modal frequencies. The goal was to improve the robustness of the traditional method. To demonstrate the effectiveness and practicality of the proposed IMSE method, both numerical and experimental studies were conducted for different damage scenarios using a jacket platform structure. The results demonstrated the effectiveness of the IMSE method in damage location when only limited, spatially incomplete, and noise-polluted modal data is available. Comparative studies showed that the IMSE index outperformed the Stubbs index and exhibited stronger robustness, confirming the superiority of the proposed approach.
基金supported by the Natural Science Foundation of the Higher Education Institutions of Jiangsu Province (No.16KJB510009 and No.17KJB510017)Jiangsu Province Natural Science Foundation of China (BK20150228)
文摘As an effective and universal acaricide, amitraz is widely used on beehives against varroasis caused by the mite Varroa jacobsoni. Its residues in honey pose a great danger to human health. In this study, a sensitive, rapid, and environmentally friendly surface-enhanced Raman spectroscopy method (SERS) was developed for the determination of trace amount of amitraz in honey with the use of silver nanorod (AgNR) array substrate. The AgNR array substrate fabricated by an oblique angle deposition technique exhibited an excellent SERS activity with an enhancement factor of -10^7. Density function theory was employed to assign the characteristic peak of amitraz. The detection of amitraz was further explored and amitraz in honey at concentrations as low as 0.08 mg/kg can be identified. Specifically, partial least square regression analysis was employed to correlate the SERS spectra in full-wavelength with Camitraz to afford a multiple-quantitative amitraz predicting model. Preliminary results show that the predicted concentrations of amitraz in honey samples are in good agreement with their real concentrations. Compared with the conventional univariate quantitative model based on single peak’s intensity, the proposed multiple-quantitative predicting model integrates all the characteristic peaks of amitraz, thus offering an improved detecting accuracy and anti-interference ability.
基金supported by the National Natural Science Foundation of China(No.60672005)the Shanxi Provincial Foundation for Returned Scholars(Main Program),China(No.69)the Science Programof Shanxi Province,China(No.20110321029)
文摘A metal rod is used in the high temperature testing for ultrasonic propagation and heat output, but the trailing ech- oes generated by ultrasonic penetration through the metal rod seriously affect the recognition and extraction of characteristic signals. According to the phenomenon, the Finite Element Method (FEM) is used to analyze ultrasonic penetration through a metal rod, the reason of the trailing echoes and the regularity of ultrasonic signals. The motion equation of ultra- sonic propagation in a metal rod is established and calculated, then the simulation signals and instantaneous eartographies of the process are obtained. Based on the results of the analysis, it can be concluded that the intervals of the trailing echoes are de- termined by the rod' s diameter and wave velocity. In practical applications, the FEM is used to analyze ultrasonic propagation in the designed buffer rod at first. Based on the characteristics of the simulation signals, the material and dimension are ad- justed and selected, aiming to identify the characteristic echo and trailing echoes in time domain and extract characteristic echo from the ultrasonic signals available.
基金the National Natural Science Foundation of China (No. 60328103).
文摘In order to improve the video transmission performance in Multiple-Input Multiple-Output Orthogonal Frequency Division Multiplexing (MIMO-OFDM) system, a new scheme, which integrates Multiple Description Coding (MDC), Low Density Parity Check (LDPC) coding and hybrid space time coding, is proposed in this letter. In particular, a hybrid space time coding algorithm is combined with LDPC codes to perform Unequal Error Protection (UEP) of MDC encoded video streams. Comparing with the UEP transmission with only LDPC codes, the proposed scheme achieves more than ldB gain in terms of Signal to Noise Ratio (SNR) when the Peak Signal to Noise Ratio (PSNR) of reconstructed video is above 30dB.
文摘As an experimental technique, it’s desired that the temperature in specimen is uniform in high temperature split Hopkinson pressure bar (SHPB) experiments. However, the temperature in specimen decreases and the temperature of bars increases when specimen starts to contact with bars, which induces the nonuniform temperature distribution in specimen, and may result in inac-curacy of experimental results. In this paper, the temperature distributions of specimen and bars in high temperature SHPB experiments were investigated while the specimen was heated alone. Firstly, the temperature history of specimen was measured at different initial temperatures by ex-periments, then simulation was carried out. Simulation results were consistent with experimental results by adjusting the thermal contact coefficient between specimen and bars. By this way, the thermal contact coefficient and simulation results were validated, and the proper cold contact times of specimen and bars in high temperature SHPB experiments were discussed. Finally, the results were compared with those in references.
文摘This paper addresses the problem of robust Fault-Tolerant (FT) design for large-scale systems. This particular class constitutes complex system which can be decomposed into N-interconnected subsystems. Special attention is paid to two different design architectures of an Active Fault-Tolerant Control (AFTC). An AFTCS is characterized by an online Fault Detection and Isolation (FDI) process and a control reconfiguration mechanism. As the AFTC system offers the possibility to choose different controllers, the controller may be the most appropriate choice for the faulty situation and obtaining better performance. The goal of each adaptive controller is to accommodate sensor anomalies. Continuous, Linear and Time Invariant (LTI) complex system with faulty sensors and external disturbances is proposed. This study focuses on two different internal structures of the system. In this paper the direct adaptive method based on feedback controller design is applied both centralized and decentralized architectures. The controller gain is updated online using an adaptive law which takes into account the estimation of the faults and the disturbances. Then from the both classes of systems structures the adaptation controller performances, in terms of stability and fault effect rejection capability, are studied and compared. The proposed techniques are finally evaluated in the light of a simulation for a centralized interconnected system that can be decomposed into N-subsystems with some strong interconnections.
文摘ZnO nanorods, with the c-axis orientation used for transparent conductors, solar cells, sensors especially the functionalized ZnO nanorods with some kinds of enzymes have been used for biosensor. In this work, we describe the process immobilization of galactose oxidase on ZnO nanorods surface with glutaraldehyde as a cross-linker molecule to make the working electrode in electrochemical biosensor. ZnO nanorods were grown on FTO (Fluorine-doped tin oxide) substrate by solution method at low temperature. The crystalline phase and orientation of ZnO nanorods were identified using X-ray diffraction. The efficiency of the immobilization was calculated by Braford method showed that about 36% enzyme content was immobilized on ZnO nanorods surface. The working electrode based on the immobilized ZnO nanorods was tested in galactose solution by CV (cyclic voltammetry) method indicated the value of current intensity is about 0.14 μA. These results clearly demonstrate the potential of galactose sensor based on ZnO nanorod.
基金supported by the National Natural Science Foundation of China(21476019 and 21676017)
文摘Li3VO4 shows great potential as an intercalation/de-intercalation type anode material for energy-storage devices. Morphology tailoring and surface modification are effective to enhance its lithium storage performance. In this work, we fabricate carbon coated Li3VO4(C@LVO) rods by a facile morphology inheritance route. The as-prepared C@LVO rods are 400–800 nm in length and 200–400 nm in diameter,and orthorhombic phase with V5+. The unique core-shell rods structure greatly improves the transport ability of electrons and Li+. Such C@LVO submicron-rods as anode materials exhibit excellent rate capability(a reversible capability of 460,438, 416, 359 and 310 m A h g^-1 at 0.2, 1, 2, 5 and 10 C, respectively) and a high stable capacity of 440 and 313 m A h g^-1 up to 300 cycles at 0.2 and 5 C, respectively.
基金supported by the National Natural Science Foundation of China(61372180)the Young Talent Frontier Project of Institute of Acoustics of Chinese Academy of Sciences(Y454341261)
文摘In order to obtain the robust high-resolution beamforming, a high order cross sensor processing(CSP) approach is developed. According to the relation ship between the target bearing and the phase difference of each element receiving signal, this method exploits the property that the same diagonal of covariance matrix with the same phase difference and obtains(2M-1)(N-1)virtual elements(N is the original array number) by executing M order CSP. The extended virtual elements can effectively increase the physical aperture of linear array, reduce the main lobe width of beam-forming, and improve the bearing resolution. The CSP method accumulates the data on the same sub-diagonal of the covariance matrix, which can decrease the impact of background noise on beam-forming. The theoretical analysis and experimental results both show that this method has high resolution in bearing estimation, compared with the MUSIC method, which has better robustness under the lower signal-to-noise ratio(SNR).
基金supported by the National Natural Science Foundation of China (Grant Nos. 11072198 and 11102162) "111" Project of China(Grant No. B07050)
文摘Robust flutter analysis considering model uncertain parameters is very important in theory and engineering applications.Modern robust flutter solution based on structured singular value subject to real parametric uncertainties may become difficult because the discontinuity and increasing complexity in real mu analysis.It is crucial to solve the worst-case flutter speed accurately and efficiently for real parametric uncertainties.In this paper,robust flutter analysis is formulated as a nonlinear programming problem.With proper nonlinear programming technique and classical flutter analysis method,the worst-case parametric perturbations and the robust flutter solution will be captured by optimization approach.In the derived nonlinear programming problem,the parametric uncertainties are taken as design variables bounded with perturbed intervals,while the flutter speed is selected as the objective function.This model is optimized by the genetic algorithm with promising global optimum performance.The present approach avoids calculating purely real mu and makes robust flutter analysis a plain job.It is illustrated by a special test case that the robust flutter results coincide well with the exhaustive method.It is also demonstrated that the present method can solve the match-point robust flutter solution under constant Mach number accurately and efficiently.This method is implemented in problem with more uncertain parameters and asymmetric perturbation interval.
基金Project supported by the International S&T Cooperation Program of China(No.2010DFA72760)
文摘For a single-motor parallel hybrid electric vehicle, during mode transitions (especially the transition from electric drive mode to engine/parallel drive mode, which requires the clutch engagement), the drivability of the vehicle will be signifi- cantly affected by a clutch torque induced disturbance, driveline oscillations and jerks which can occur without adequate controls. To improve vehicle drivability during mode transitions for a single-motor parallel hybrid electric vehicle, two controllers are proposed. The first controller is the engine-side controller for engine cranking/starting and speed synchronization. The second controller is the motor-side controller for achieving a smooth mode transition with reduced driveline oscillations and jerks under the clutch torque induced disturbance and system uncertainties. The controllers are all composed of a feed-forward control and a robust feedback control. The robust controllers are designed by using the mu synthesis method. In the design process, control- oriented system models that take account of various parameter uncertainties and un-modeled dynamics are used. The results of the simulation demonstrate the effectiveness of the proposed control algorithms.