Oscillations in the driveline of a vehicle, specifically originating from the clutch system, are referred to as clutch judder. This paper presents the design of a robust controller to actively damp these judder-induced oscillations. A DK-iteration procedure, combining H8-controller synthesis and µ-analysis, is adopted for the robust controller design. The clutch judder model used is based on and validated with measurements on a heavy-duty vehicle powertrain. The feasibility of the control concept is evaluated by simulations and hardware-in-the-loop experiments.