A transmission system includes a first clutch, a second clutch, and a controller. The controller communicates with the first and second clutches and commands a gear shift. The controller calculates a torque phase time for the gear shift and determines a desired torque trajectory within said torque phase time. The controller determines on-coming torque values for the second clutch and off-going torque values for the first clutch to achieve the desired torque trajectory within the torque phase time. The controller calculates an on-coming clutch pressure based on the on-coming torque value, and an off-going clutch pressure based on the off-going torque value. The controller delays actuation of the first and second clutches to compensate for hydraulic delays.