A vehicle includes an engine, a first motor, and a second motor, each configured to generate a torque. A gearbox is configured to receive the generated torque. An oncoming clutch is configured to engage during a transition from a present operating mode to a target operating mode. A controller is configured to identify a speed profile associated with a transition to the target operating mode. The speed profile defines a calibrated profile time that represents an amount of time to synchronize the oncoming clutch during the transition from the present operating mode to the target operating mode. The controller is configured to adjust the calibrated profile time in real time to define an adjusted profile time and control the engagement of the oncoming clutch during the transition from the present operating mode to the target operating mode based at least in part on the adjusted profile time.