A vehicle includes an engine, a first motor, a second motor, and a gearbox. An oncoming clutch is configured to engage during a transition to a target operating mode to transfer an engine torque to the gearbox during the target operating mode. An off-going clutch is configured to transfer a reactive torque to the gearbox during the transition to the target operating mode. The off-going clutch is configured to be disengaged during at least a portion of the target operating mode. A controller is configured to simultaneously control the off-going clutch and the oncoming clutch during the transition. The controller is configured to control the reactive torque of the off-going clutch using a clutch torque profile associate with the target operating mode and the engagement of the oncoming clutch using a shift profile associated with target operating mode.