The problem of gearshift control is crucial for performing an efficient gearshift. The issue becomes more interesting when it is constrained by yet another demand i.e. reduced gearshift time. In this paper, we address the issue of designing a controller for a sequential type gearshift mechanism in order to achieve the dynamically varying demand of gearshift force. A difference equation governing the dynamics of the gearshift mechanism is derived from the previously developed continuous-time model. A discrete-time backstepping torque controller is then developed for asymptotic convergence of states, angular displacement and velocity of the cylindrical cam present in the mechanism, to zero. The stability of the controller is discussed using the Lyapunov stability analysis. The design of the controller is then altered to handle tracking of a known reference signal. In addition, the effect of design constants on the response of the closed-loop system, including the deadbeat control, is then evaluated which is significant to reduce the gearshift time.
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