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This paper considers the application of robust control methods (μ-and H∞-synthesis) to the speed and acceleration control problem encountered in electric vehicle powertrains.To this end,we consider a two degree of freedom control structure with a reference model.The underlying powertrain model is derived and combined into the corresponding interconnected system required forμ-and H∞-synthesis.The closed-loop performance of the resulting controllers are compared in a detailed simulation analysis that includes nonlinear effects.It is observed that theμ-controller offers performance advantages in particular for the acceleration control problem,but at the price of a high-order controller.