An automatic transmission shift method is presented, in which the torque transfer phase is controlled in closed loop. This is made possible by real-time estimation of the torque transmitted by the off-going and on-coming clutches participating in the shift. Each clutch torque is determined based on measured or estimated input and output shaft torques and accelerations. To illustrate an application of the method, traditional friction elements are used to emulate one-way-clutch function during a power-on upshift.

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