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For series–parallel hybrid electric vehicles (HEVs), problems of driveability are significant and difficult to solve due to clutch engagement during mode transitions. In this paper, a robust controller was designed for a series–parallel HEV to reduce vehicle jerk during mode transitions and improve vehicle driveability. First, a linear dynamic system model of the controlled plant was obtained for robust control design. Then, the robust controller was designed based on the mu-synthesis method and solved using the discrete $D-K$ iteration; parameter uncertainties in the system model were considered in the design process to ensure the robustness of the control system. Finally, a hardware-in-the-loop (HIL) simulation was performed to verify the proposed controller. The HIL platform was composed of a dynamometer-simulated engine, a real transmission, a virtual electric machine, and a virtual vehicle, which was constructed based on the nonlinear dynamics of tires, road, and vehicle body. The HIL simulation results showed the effectiveness of the proposed robust mode transition control. [ABSTRACT FROM AUTHOR]