When a transmission controller issues a control command, such as pressure to control clutch torque, the response may be delayed due to dynamic properties of the control system. These properties can be modeled using a dynamic response model. One potential model is a combination of a pure time delay and a first order distributed delay. Control methods may be improved in several ways by accounting for the dynamic response. First, the dynamic response model may be used to improve adaptation of a transfer function between the commanded control signal and the clutch torque. Second, the command may be adjusted based on the dynamic response model. Both the pure time delay and the time constant of the first order distributed delay may be functions of operating conditions such as temperature.