The invention relates to a method and apparatus for controlling a multi-mode transmission and specifically relates to a power system. The power system includes a multi-mode transmission configured to transfer torque among an input member, torque machines and an output member. A method for controlling operation of the multi-mode transmission includes determining torque commands for the torque machines in response to a desired input speed of the input member and an output speed of the output member determined based upon an estimated wheel speed of a wheel of a driveline coupled to the output member. The estimated wheel speed of the wheel is set equal to a monitored wheel speed of the wheel upon detecting an abrupt decrease in the wheel speed. Torque commands are determined for the torque machines in response to the desired input speed and the monitored wheel speed.