A method of controlling an all-wheel-drive system connect event including providing a power transmission apparatus having a clutch, a propeller shaft, and a rear drive unit with a clutch pack assembly. The rear drive unit clutch pack is actuated by creating a model of the propeller shaft rotational speed, adapting the model parameters to compensate for temperature and vehicle wheel speed, storing the model, adapting the model utilizing information collected during a previous all-wheel-drive system connect event, and developing a set point for the clutch driving element utilizing the model and a multi-loop control architecture. The power transmission apparatus clutch is then engaged.