Two-scale command shaping (TSCS) can be used for tailoring control inputs to nonlinear, flexible systems aimed at reducing undesirable residual vibrations. These systems exhibit control complexities not present in traditional linear systems. The TSCS approach employs problem scale decomposition using an asymptotic method, command shaping of a linear sub-problem, and cancellation of a remaining nonlinear sub-problem. Noise, vibration, and harshness (NVH) arising in internal combustion engine (ICE) start/shutdown, now found in both hybrid-electric and conventional vehicles, provides a contemporary motivating problem ideal for TSCS application due to nonlinearities arising in ICE geometry and friction. Using analytical, computational, and experimental means, TSCS applied to this problem is shown to significantly reduce NVH issues while leveraging existing vehicle components at little to no additional cost. As shown in the accompanying figure, tailoring the electric machine (EM) torque profile provides a smooth response from the ICE.