A method of controlling a continuously variable transmission includes monitoring powertrain operating conditions, and calculating, via an electronic controller, a commanded clamping force based on the powertrain operating conditions, wherein the commanded clamping force includes a commanded clamping force of an input pulley and a commanded clamping force of an output pulley on the endless rotatable device. The method also includes activating, via the electronic controller, at least one of the input actuator and the output actuator such that an axial component of the input wedge force and the axial force of the input actuator together provide the commanded clamping force of the input pulley, and an axial component of the output wedge force and the axial force of the output actuator together provide the commanded clamping force of the output pulley.