A continuously variable transmission includes an input assembly. The input assembly coupled to receive input rotational motion. An output assembly is used to provide a rotational output and is coupled to a load. Moreover, an input/output planetary ratio assembly sets an input to output speed ratio between the input assembly and the output assembly. An input speed feedback control assembly is used to provide an axial speed force in response to a rotation from the input assembly on a shift rod. A torque feedback control assembly is used to provide an axial load force on the shift rod in an opposite direction from the axial speed force in response to a torque of a load coupled to the output assembly. In addition, a shifting member is coupled to the shift rod. The shifting member controls the input/output planetary ratio assembly based on a position of the shift rod.