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Accuracy of clutch torque model which converts target torque to target stroke is essential to control the dry clutch system. Continuous Adaptation algorithm requires micro slip control during in-gear driving. Clutch judder during micro slip control can cause detrimental effect on the output of controller as slip speed is calculated by deviation of engine speed and clutch speed. Conventional approach to avoid clutch judder is using low pass filter to the input of controller which is slip speed. But this affect to the overall response time of slip controller. In this paper, signal processing algorithm is design and tested for the clutch speed(Input shaft speed). With low pass filter in clutch speed, clutch judder signal is decreased but overall time delay creates static error during acceleration. Several phase advance algorithm is designed to overcome the static error during acceleration without disadvantage of decreasing clutch judder signal.