diff --git a/include/etl/fsm.h b/include/etl/fsm.h
index 63beaf07..d12a301a 100644
--- a/include/etl/fsm.h
+++ b/include/etl/fsm.h
@@ -508,30 +508,7 @@ namespace etl
       {
         etl::fsm_state_id_t next_state_id = p_state->process_event(message);
 
-        if (have_changed_state(next_state_id))
-        {
-          ETL_ASSERT_OR_RETURN(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
-          etl::ifsm_state* p_next_state = state_list[next_state_id];
-
-          do
-          {
-            p_state->on_exit_state();
-            p_state = p_next_state;
-
-            next_state_id = p_state->on_enter_state();
-
-            if (have_changed_state(next_state_id))
-            {
-              ETL_ASSERT_OR_RETURN(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
-              p_next_state = state_list[next_state_id];
-            }
-          } while (p_next_state != p_state); // Have we changed state again?
-        }
-        else if (is_self_transition(next_state_id))
-        {
-          p_state->on_exit_state();
-          p_state->on_enter_state();
-        }
+        process_state_change(next_state_id); 
       }
       else
       {
@@ -539,6 +516,21 @@ namespace etl
       }
     }
 
+    //*******************************************
+    /// Invoke a state transition.
+    //*******************************************
+    etl::fsm_state_id_t transition_to(etl::fsm_state_id_t new_state_id)
+    {
+      if (is_started())
+      {
+        return process_state_change(new_state_id);
+      }
+      else
+      {
+        return ifsm_state::No_State_Change;
+      }
+    }
+
     using imessage_router::accepts;
 
     //*******************************************
@@ -633,6 +625,39 @@ namespace etl
       return (next_state_id == ifsm_state::Self_Transition);
     }
 
+    //*******************************************
+    /// Core function to process a state change.
+    //*******************************************
+    virtual etl::fsm_state_id_t process_state_change(etl::fsm_state_id_t next_state_id)
+    {
+      if (have_changed_state(next_state_id))
+      {
+        ETL_ASSERT_OR_RETURN(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
+        etl::ifsm_state* p_next_state = state_list[next_state_id];
+
+        do
+        {
+          p_state->on_exit_state();
+          p_state = p_next_state;
+
+          next_state_id = p_state->on_enter_state();
+
+          if (have_changed_state(next_state_id))
+          {
+            ETL_ASSERT_OR_RETURN(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
+            p_next_state = state_list[next_state_id];
+          }
+        } while (p_next_state != p_state); // Have we changed state again?
+      }
+      else if (is_self_transition(next_state_id))
+      {
+        p_state->on_exit_state();
+        p_state->on_enter_state();
+      }
+
+      return p_state->get_state_id();
+    }
+
     etl::ifsm_state*    p_state;          ///< A pointer to the current state.
     etl::ifsm_state**   state_list;       ///< The list of added states.
     etl::fsm_state_id_t number_of_states; ///< The number of states.
diff --git a/include/etl/hfsm.h b/include/etl/hfsm.h
index eab44f55..127ea9f4 100644
--- a/include/etl/hfsm.h
+++ b/include/etl/hfsm.h
@@ -91,42 +91,6 @@ namespace etl
       p_state = ETL_NULLPTR;
     }
 
-    using fsm::receive;
-
-    //*******************************************
-    /// Top level message handler for the HFSM.
-    //*******************************************
-    void receive(const etl::imessage& message) ETL_OVERRIDE
-    {
-      if (is_started())
-      {
-        etl::fsm_state_id_t next_state_id = p_state->process_event(message);
-     
-        if (have_changed_state(next_state_id))
-        {
-          ETL_ASSERT_OR_RETURN(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
-
-          etl::ifsm_state* p_next_state = state_list[next_state_id];
-          etl::ifsm_state* p_root       = common_ancestor(p_state, p_next_state);
-          
-          do_exits(p_root, p_state);
-          next_state_id = do_enters(p_root, p_next_state, true);
-
-          ETL_ASSERT_OR_RETURN(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
-          p_state = state_list[next_state_id];
-        }
-        else if (is_self_transition(next_state_id))
-        {
-          p_state->on_exit_state();
-          p_state->on_enter_state();
-        }
-      }
-      else
-      {
-        ETL_ASSERT_FAIL(ETL_ERROR(etl::fsm_not_started));
-      }
-    }
-
   private:
 
     //*******************************************
@@ -247,6 +211,33 @@ namespace etl
         p_current = p_current->p_parent;
       }
     }
+
+    //*******************************************
+    /// Core function to process a state change.
+    //*******************************************
+    etl::fsm_state_id_t process_state_change(etl::fsm_state_id_t next_state_id) ETL_OVERRIDE
+    {
+      if (have_changed_state(next_state_id))
+      {
+        ETL_ASSERT_OR_RETURN(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
+
+        etl::ifsm_state* p_next_state = state_list[next_state_id];
+        etl::ifsm_state* p_root       = common_ancestor(p_state, p_next_state);
+
+        do_exits(p_root, p_state);
+        next_state_id = do_enters(p_root, p_next_state, true);
+
+        ETL_ASSERT_OR_RETURN(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
+        p_state = state_list[next_state_id];
+      }
+      else if (is_self_transition(next_state_id))
+      {
+        p_state->on_exit_state();
+        p_state->on_enter_state();
+      }
+
+      return p_state->get_state_id();
+    }
   };
 }
 #endif
diff --git a/test/test_fsm.cpp b/test/test_fsm.cpp
index 331ef363..54745f3b 100644
--- a/test/test_fsm.cpp
+++ b/test/test_fsm.cpp
@@ -730,5 +730,55 @@ namespace
       CHECK_EQUAL(StateId::Locked, int(motorControl.get_state_id()));
       CHECK_EQUAL(StateId::Locked, int(motorControl.get_state().get_state_id()));
     }
+
+    //*************************************************************************
+    TEST(test_fsm_force_state_changes)
+    {
+      MotorControl motorControl;
+
+      etl::fsm_state_pack<Idle, Running, WindingDown, Locked> statePack;
+
+      motorControl.Initialise(statePack);
+      motorControl.reset();
+      motorControl.ClearStatistics();
+
+      // Start the FSM.
+      motorControl.start(false);
+      CHECK(motorControl.is_started());
+
+      // Now in Idle state.
+      CHECK_EQUAL(StateId::Idle, int(motorControl.get_state_id()));
+      CHECK_EQUAL(StateId::Idle, int(motorControl.get_state().get_state_id()));
+
+      auto id1 = motorControl.transition_to(StateId::Running);
+
+      // Now in Running state.
+      CHECK_EQUAL(StateId::Running, int(id1));
+      CHECK_EQUAL(StateId::Running, int(motorControl.get_state_id()));
+      CHECK_EQUAL(StateId::Running, int(motorControl.get_state().get_state_id()));
+
+      auto id2 = motorControl.transition_to(StateId::Idle);
+      
+      // Now in Locked state.
+      CHECK_EQUAL(StateId::Locked, int(id2));
+      CHECK_EQUAL(StateId::Locked, int(motorControl.get_state_id()));
+      CHECK_EQUAL(StateId::Locked, int(motorControl.get_state().get_state_id()));
+
+      auto id3 = motorControl.transition_to(StateId::Winding_Down);
+
+      // Now in Locked state.
+      CHECK_EQUAL(StateId::Winding_Down, int(id3));
+      CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state_id()));
+      CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state().get_state_id()));
+
+      // Send a normal event message to make sure the FSM is still working.
+
+      // Now send a Stopped event message.
+      motorControl.receive(Stopped());
+
+      // Now in Idle state.
+      CHECK_EQUAL(StateId::Locked, int(motorControl.get_state_id()));
+      CHECK_EQUAL(StateId::Locked, int(motorControl.get_state().get_state_id()));
+    }
   };
 }
diff --git a/test/test_hfsm.cpp b/test/test_hfsm.cpp
index adc794ac..30e422e7 100644
--- a/test/test_hfsm.cpp
+++ b/test/test_hfsm.cpp
@@ -192,6 +192,14 @@ namespace
       ClearStatistics();
     }
 
+    //***********************************
+    template <typename... TStates>
+    void Initialise(etl::fsm_state_pack<TStates...>& state_pack)
+    {
+      set_states(state_pack);
+      ClearStatistics();
+    }
+
     //***********************************
     void ClearStatistics()
     {
@@ -1028,5 +1036,56 @@ namespace
 
       CHECK_EQUAL(1, motorControl.selfTransitionCount);
     }
+
+    //*************************************************************************
+    TEST(test_fsm_force_state_changes)
+    {
+      MotorControl motorControl;
+
+      etl::fsm_state_pack<Idle, Running, WindingUp, WindingDown, AtSpeed> statePack;
+
+      motorControl.Initialise(statePack);
+      motorControl.reset();
+      motorControl.ClearStatistics();
+
+      // Start the FSM.
+      motorControl.start(false);
+      CHECK(motorControl.is_started());
+
+      // Now in Idle state.
+      CHECK_EQUAL(StateId::Idle, int(motorControl.get_state_id()));
+      CHECK_EQUAL(StateId::Idle, int(motorControl.get_state().get_state_id()));
+
+      auto id1 = motorControl.transition_to(StateId::Winding_Up);
+
+      // Now in Winding_Up state.
+      CHECK_EQUAL(StateId::Winding_Up, int(id1));
+      CHECK_EQUAL(StateId::Winding_Up, int(motorControl.get_state_id()));
+      CHECK_EQUAL(StateId::Winding_Up, int(motorControl.get_state().get_state_id()));
+
+      auto id2 = motorControl.transition_to(StateId::At_Speed);
+
+      // Now in At_Speed state.
+      CHECK_EQUAL(StateId::At_Speed, int(id2));
+      CHECK_EQUAL(StateId::At_Speed, int(motorControl.get_state_id()));
+      CHECK_EQUAL(StateId::At_Speed, int(motorControl.get_state().get_state_id()));
+
+      // Send some normal event messages to make sure the HFSM is still working.
+
+      // Now send a Stop event message.
+      motorControl.receive(Stop());
+
+      CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state_id()));
+      CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state().get_state_id()));
+
+      // Now send a Stopped event message.
+      motorControl.receive(Stopped());
+
+      // Now in Idle state.
+      CHECK_EQUAL(StateId::Idle, int(motorControl.get_state_id()));
+      CHECK_EQUAL(StateId::Idle, int(motorControl.get_state().get_state_id()));
+
+
+    }
   };
 }