Method of synchronizing engine torque with vehicle torque load for accomplishing vehicle transmission shifting

A vehicle drive system comprising:

• an engine having an engine output shaft;
• a transmission having a transmission input shaft coupled to said engine output shaft and a transmission output shaft selectively coupled to said transmission input shaft by a plurality of gears;
• an intent switch for preparing to shift said transmission between said plurality of gears when said intent switch is actuated;
• an engine control having an engine torque signal representing a torque at said engine output shaft;
• and
• an engine synchronization control connected to said engine control for calculating a torque at said transmission output shaft and adjusting said torque at said engine output shaft until said torque at said engine output shaft approximates said torque at said transmission output shaft so that a zero net torque is achieved and a shift between said plurality of gears may be effected when said intent switch is actuated.