The structure of the paper is as follows. Section 2 provides a description of the power-shift transmission system, both from an hydraulic and a mechanical viewpoint. Section 3 is focused on presenting the performance indexes which have been selected to judge the gear shift quality. In Section 4, the proposed control strategy for power-shift gear shifts is described, both for the case of single clutch and double clutch gearshifts, together with the results of an experimental sensitivity analysis of the performance indexes with respect to the controller parameters. Finally, Section 5 is devoted to describe the end-of-line self-tuning procedure and to present related experimental results.