A method of controlling a vehicle changing operating ranges from a first range to a second range includes defining a current set of state equations and a target set of state equations. The current set of state equations and the target set of state equations may each include a set of control state equations for controlling the vehicle and a set of estimator state equations for estimating the performance of the vehicle. The values of the current set of state equations are incrementally adjusted over time until substantially equal to values of the target set of state equations to smooth the requested change between the first range and the second range.