We consider controller design problem to enhance shift quality for automatic transmission. A dynamic modeling related to shifting (mainly 2-3 up-shift) is constructed and nonlinear robust controllers are designed to reduce output torque during shifting. Suggesting a new hydraulic circuit enabling the direct clutch drive, the control activity is extended and more implementable than the conventional design. The designed robust controllers overcome the unmodeled dynamics and the uncertainty embending in the system. Moreover, the dynamic effect between the clutch pressure and the PWM valve duty is considered via singular perturbation technique.