The invention relates to a method of controlling a vehicle powertrain including determining that a performance feature associated with the powertrain is outside of a desired performance range. A plurality of operation parameters that are associated with the powertrain are identified that have a relationship to the performance feature. An adjustment is automatically made to at least one of the identified operation parameters to thereby bring the performance feature closer to the desired performance range. Preferably, the relationship comprises a mathematical model that corresponds to how the operation parameters influence whether the performance feature is within the desired performance range, the method further comprising identifying an actuator failure associated with the powertrain; determining at least one of the operation parameters corresponding to the actuator failure; determining a value of the corresponding operation parameter that is indicative of the actuator failure; and using the determined value as a fixed value for the corresponding operation parameter in the mathematical model.