Abstract A clutch is a very important component when engine starts and gear shifting is needed. The clutch the most commonly used is the dry clutch. This type of clutch has pads, and they are worn after disengagement of clutch little by little. The characteristics of the clutch changes as these pads wear, so wear needs to be measured, and the clutch should be controlled for proper operation. In this study, the clutch contact point estimation algorithm has been developed. From this algorithm, clutch force map changes depending on wear, and the clutch operates properly. We also see the shifting transient of a vehicle for drivability with throttle valve position control and synchronizer movement.