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Based on a state space dynamic model of the powertrain system, a new control technique for the dry clutch engagement process is proposed. The feedback controller is designed following a linear quadratic approach by using the crankshaft speed and the clutch disk speed as state variables. The controller guarantees fast engagement, minimum slipping losses and comfortable lock-up. The critical standing start operating conditions are considered and a comparison with a classical open loop control strategy is presented. The numerical results, carried out by a Simulink/Stateflow simulation scheme and a realistic set of parameters, show the good performance of the closed loop system.