An automatic transmission and a method of synchronization are described. The automatic transmission includes a plurality of planetary gear sets, a plurality of dog clutches and a plurality of brakes coupled to the plurality of planetary gear sets, and an electric machine coupled to the plurality of dog clutches and a plurality of brakes via the planetary gear sets. Further, the automatic transmission includes a first speed sensor measuring a first speed of the electric machine and a second speed sensor measuring a second speed of an output shaft, and a synchronization controller configured to receive the first speed sensor data and the second speed sensor data, determine a synchronization speed, and adjust the first speed of the electric machine to the synchronization speed.