A method of controlling a transmission includes selecting a target speed of a second shaft, and measuring a second speed of the second shaft and an output speed of an output shaft. The method includes detecting a rolling neutral condition wherein a first and second clutch are uncoupled from a torque generator and a synchronizer is mated to a predicted gear to apply a load in a direction, and one of a first condition wherein the output speed is decreasing and the target speed is less than the second speed and a second condition wherein the output speed is increasing and the target speed is less than the second speed. The method then includes translating the synchronizer away from the predicted gear, coupling and decoupling the second clutch to and from the torque generator, and mating the synchronizer to the predicted gear to again apply the load in the direction.