Patent ID: 8652006

Claim:
A method for controlling a powertrain system comprising a multi-mode transmission including a plurality of torque-transfer clutches, comprising: upon detecting one of the torque-transfer clutches is in a stuck-closed condition, employing a closed-loop system to control operation of the multi-mode transmission, comprising: identifying all presently applied clutches including commanded applied clutches and the stuck-closed clutch; monitoring adjusted open-loop torque commands and delayed speed states from a previous iteration; selecting transmission range equations associated with the presently applied clutches, wherein each of the selected transmission range equations correspond to a respective operating range state of the multi-mode transmission; executing the selected transmission range equations to estimate speed states for the multi-mode transmission based on the adjusted open-loop torque commands and delayed speed states from the previous iteration; determining torque errors based upon said estimated speed states for the multi-mode transmission; and adjusting open-loop motor torque commands with the torque errors.