Its all about knowing what rpm the engine should be at in a specific gear. Just like rev match downshifting, you will want to make sure the rpms are in the correct position for the gear during an upshift. If you clutch in, upshift, and clutch out really fast then the shift will probably be jerky because the rpms will most likely be higher than the desired gear. Same think if you clutch in, upshift, and clutch out too slowly...the rpms will be too low causing a jerky shift. Its all about finding a rhythm.
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