The application of multi-speed transmissions in electric vehicles (EVs) continues to grow as a result of improved performance and driving efficiency in comparison to single speed EVs [1{3]. Traditionally, shifting and gear selection is performed with the use of friction clutches, a result of both limited controllability and high inertia of combustion engines. These friction elements are a major source of inefficiency in multi-speed gearboxes [4{6]. As electric motors are significantly more controllable than their conventional counterparts, as evidenced by paper such as [7{9], reliance on...