Clutch slip control of the inertia phase during the clutch-to-clutch shift process is the key to ensure good drive quality in automated transmissions. Addressing the problem of unpleasant driveline jerk and clutch overwear, a novel control scheme consisting of a linear quadratic controller and two compensators is proposed. The compensators are designed to deal with the challenges involving the disturbances and discontinuity in the drivetrain torque during the inertia phase. Compared to the conventional proportional–integral–derivative and classical linear quadratic approaches, the proposed control scheme demonstrates a significant better shift performance in terms of the slipping tracking error and jerk level during shift. The influences of various reference inputs and disturbances are investigated, where the proposed control scheme shows advantages. The proposed control scheme can be adaptable to various engine torque and vehicle load torque with improved control robustness.