A method of shifting a transmission having a lever configuration including input and output nodes, a first node configured for engagement with a first clutch in a first gear state, and a second node configured for engagement with a second clutch in a second gear state. The transmission is capable of clutch-to-clutch shifting from the first to the second gear state without engagement of a third clutch, the third clutch being capable of connecting two of the nodes during a transition from the first to the second gear state so as to urge the first node from a first lever position to a second lever position. In the first gear state, the first clutch is engaged. During a torque phase, disengagement of the first clutch and engagement of the second clutch are initiated, and during an inertia phase, the third clutch is engaged to connect the two nodes.

A method of shifting a transmission having a lever configuration including input and output nodes, a first node configured for engagement with a first clutch in a first gear state, and a second node configured for engagement with a second clutch in a second gear state. The transmission is capable of clutch-to-clutch shifting from the first to the second gear state without engagement of a third clutch, the third clutch being capable of connecting two of the nodes during a transition from the first to the second gear state so as to urge the first node from a first lever position to a second lever position. In the first gear state, the first clutch is engaged. During a torque phase, disengagement of the first clutch and engagement of the second clutch are initiated, and during an inertia phase, the third clutch is engaged to connect the two nodes.

A method and a system for controlling a backlash of a powertrain included in a vehicle in connection with a gear shifting operation is presented. The method comprises: controlling, in connection with a first gear shifting operation, a clutch included in the powertrain to a slipping position, in which slipping position the clutch transfers a slipping torque that is less than a torque being transferred in a closed position for the clutch; analyzing a change of a rotational speed for an input shaft of a gearbox included in the powertrain; determining a position for the clutch, for which position the change of the rotational speed has a value corresponding to a backlash torque, the backlash torque having a predetermined value for eliminating the backlash; and utilizing the determined clutch position for controlling the clutch in connection with a second subsequent gear shifting operation.

A method and a system for controlling a backlash of a powertrain included in a vehicle in connection with a gear shifting operation is presented. The method comprises: controlling, in connection with a first gear shifting operation, a clutch included in the powertrain to a slipping position, in which slipping position the clutch transfers a slipping torque that is less than a torque being transferred in a closed position for the clutch; analyzing a change of a rotational speed for an input shaft of a gearbox included in the powertrain; determining a position for the clutch, for which position the change of the rotational speed has a value corresponding to a backlash torque, the backlash torque having a predetermined value for eliminating the backlash; and utilizing the determined clutch position for controlling the clutch in connection with a second subsequent gear shifting operation.