Micro slip control for clutch is an innovative strategy to improve the performance of dual clutch transmission. This research designs a novel controller for vehicle launch to enable a desired micro slip on clutch at the end of clutch engagement. The micro slip controller calculates the requested clutch pressure as the input of the system based on the clutch slip dynamics, meanwhile, the switch threshold is determined by the boundary condition to initiate the micro slip control as well. The designed controller is validated by simulation works, and the results show that the clutch micro slip is stable.