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An Automated Manual Transmission (AMT) system, which has achieved both cost reduction and low fuel consumption, has been developed. The AMT system can automatically shift using three independently operated actuators mounted in a conventional manual transmission in accordance with a driver's operation and vehicle conditions. For downsizing, weight and cost reductions, a direct actuation driven by DC motor has been selected. To improve vehicle drivability, secure robustness against ambient temperature change and power supply voltage change and aged deterioration, the development object is to improve position control accuracy for the motor control. To meet this object, an actuator structure optimization and a disturbance observer, which is excellent in response characteristics and robust stability are combined. As a result, a highly efficient and reliable the AMT system has been developed and will be introduced through simulation and experimental results.