Low-frequency drivetrain oscillations below 20 Hz harm safety and performance of electric vehicles. In this regard, the key issues are changing oscillation behavior due to tire nonlinear dynamics and backlash effects. This disseration addresses these problems by controlling the electric motor's torque. A mathematical model is constructed, validation and analyzed. Based on the model robust control design tackles the changing tire dynamics. The backlash is compensated via differential flatness.weiterlesen