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This paper discusses the development of an advanced Iterative Learning Control (ILC) scheme for the filling of wet clutches. In the presented scheme, the appropriate actuator signal for a new clutch engagement is learned automatically based on the quality of previous engagements, such that time-consuming and cumbersome calibrations can be avoided. First, an ILC controller, which uses the position of the piston as control input, is developed and tested on a non-rotating clutch under welldoi:10.1016/j.ymssp.2010.05.016 fatcat:ru5rohdb2ndgndrgwgyfzopmdq