diff --git a/include/etl/state_chart.h b/include/etl/state_chart.h
index b37f6578..94667279 100644
--- a/include/etl/state_chart.h
+++ b/include/etl/state_chart.h
@@ -223,48 +223,61 @@ namespace etl
     {
       if (started)
       {
-        // Scan the transition table.
-        const transition* t = std::find_if(transition_table.begin(),
-                                           transition_table.end(),
-                                           is_transition(event_id, current_state_id));
+        const transition* t = transition_table.begin();
 
-        // Found an entry?
-        if (t != transition_table.end())
+        // Keep looping until we execute a transition or reach the end of the table.
+        while (t != transition_table.end())
         {
-          // Shall we execute the transition?
-          if ((t->guard == nullptr) || ((object.*t->guard)()))
+          // Scan the transition table from the latest position.
+          t = std::find_if(t,
+                           transition_table.end(),
+                           is_transition(event_id, current_state_id));
+
+          // Found an entry?
+          if (t != transition_table.end())
           {
-            // Shall we execute the action?
-            if (t->action != nullptr)
+            // Shall we execute the transition?
+            if ((t->guard == nullptr) || ((object.*t->guard)()))
             {
-              (object.*t->action)();
-            }
-
-            // Changing state?
-            if (current_state_id != t->next_state_id)
-            {
-              const state* s;
-
-              // See if we have a state item for the current state.
-              s = find_state(current_state_id);
-
-              // If the current state has an 'on_exit' then call it.
-              if ((s != state_table.end()) && (s->on_exit != nullptr))
+              // Shall we execute the action?
+              if (t->action != nullptr)
               {
-                (object.*(s->on_exit))();
+                (object.*t->action)();
               }
 
-              // See if we have a state item for the next state.
-              s = find_state(t->next_state_id);
-
-              // If the new state has an 'on_entry' then call it.
-              if ((s != state_table.end()) && (s->on_entry != nullptr))
+              // Changing state?
+              if (current_state_id != t->next_state_id)
               {
-                (object.*(s->on_entry))();
-              }
-            }
+                const state* s;
 
-            current_state_id = t->next_state_id;
+                // See if we have a state item for the current state.
+                s = find_state(current_state_id);
+
+                // If the current state has an 'on_exit' then call it.
+                if ((s != state_table.end()) && (s->on_exit != nullptr))
+                {
+                  (object.*(s->on_exit))();
+                }
+
+                // See if we have a state item for the next state.
+                s = find_state(t->next_state_id);
+
+                // If the new state has an 'on_entry' then call it.
+                if ((s != state_table.end()) && (s->on_entry != nullptr))
+                {
+                  (object.*(s->on_entry))();
+                }
+
+                current_state_id = t->next_state_id;
+              }
+
+              t = transition_table.end();
+            }
+            else
+            {
+              // Start the search from the next item in the table.
+              ++t;
+            }
           }
         }
       }
diff --git a/test/test_state_chart.cpp b/test/test_state_chart.cpp
index 61f4bf07..2134ed6b 100644
--- a/test/test_state_chart.cpp
+++ b/test/test_state_chart.cpp
@@ -103,6 +103,7 @@ namespace
       speed         = 0;
       windingDown   = 0;
       entered_idle  = false;
+      null          = 0;
     }
 
     //***********************************
@@ -167,6 +168,12 @@ namespace
       return guard;
     }
 
+    //***********************************
+    bool NotGuard()
+    {
+      return !guard;
+    }
+
     //***********************************
     void TurnRunningLampOn()
     {
@@ -179,6 +186,12 @@ namespace
       isLampOn = false;
     }
 
+    //***********************************
+    void Null()
+    {
+      ++null;
+    }
+
     int startCount;
     int stopCount;
     int setSpeedCount;
@@ -187,17 +200,19 @@ namespace
     int speed;
     int windingDown;
     bool entered_idle;
+    int null;
 
     bool guard;
 
-    static const etl::array<MotorControl::transition, 5> transitionTable;
+    static const etl::array<MotorControl::transition, 6> transitionTable;
     static const etl::array<MotorControl::state, 3>      stateTable;
   };
 
   //***************************************************************************
-  const etl::array<MotorControl::transition, 5> MotorControl::transitionTable =
+  const etl::array<MotorControl::transition, 6> MotorControl::transitionTable =
   {
     MotorControl::transition(EventId::START,          StateId::IDLE,         StateId::RUNNING,      &MotorControl::OnStart, &MotorControl::Guard),
+    MotorControl::transition(EventId::START,          StateId::IDLE,         StateId::IDLE,         &MotorControl::Null,    &MotorControl::NotGuard),
     MotorControl::transition(EventId::STOP,           StateId::RUNNING,      StateId::WINDING_DOWN, &MotorControl::OnStop),
     MotorControl::transition(EventId::STOPPED,        StateId::WINDING_DOWN, StateId::IDLE,         &MotorControl::OnStopped),
     MotorControl::transition(EventId::EMERGENCY_STOP, StateId::RUNNING,      StateId::IDLE,         &MotorControl::OnStop),
@@ -283,6 +298,7 @@ namespace
       CHECK_EQUAL(0, motorControl.stopCount);
       CHECK_EQUAL(0, motorControl.stoppedCount);
       CHECK_EQUAL(0, motorControl.windingDown);
+      CHECK_EQUAL(1, motorControl.null);
 
       // Send Start event.
       motorControl.guard = true;
@@ -299,6 +315,7 @@ namespace
       CHECK_EQUAL(0, motorControl.stopCount);
       CHECK_EQUAL(0, motorControl.stoppedCount);
       CHECK_EQUAL(0, motorControl.windingDown);
+      CHECK_EQUAL(1, motorControl.null);
 
       // Send unhandled events.
       motorControl.process_event(EventId::START);
@@ -313,6 +330,7 @@ namespace
       CHECK_EQUAL(0, motorControl.stopCount);
       CHECK_EQUAL(0, motorControl.stoppedCount);
       CHECK_EQUAL(0, motorControl.windingDown);
+      CHECK_EQUAL(1, motorControl.null);
 
       // Send SetSpeed event.
       motorControl.process_event(EventId::SET_SPEED);
@@ -328,6 +346,7 @@ namespace
       CHECK_EQUAL(0, motorControl.stopCount);
       CHECK_EQUAL(0, motorControl.stoppedCount);
       CHECK_EQUAL(0, motorControl.windingDown);
+      CHECK_EQUAL(1, motorControl.null);
 
       // Send Stop event.
       motorControl.process_event(EventId::STOP);
@@ -343,6 +362,7 @@ namespace
       CHECK_EQUAL(1, motorControl.stopCount);
       CHECK_EQUAL(0, motorControl.stoppedCount);
       CHECK_EQUAL(1, motorControl.windingDown);
+      CHECK_EQUAL(1, motorControl.null);
 
       // Send unhandled events.
       motorControl.process_event(EventId::START);
@@ -357,6 +377,7 @@ namespace
       CHECK_EQUAL(1, motorControl.stopCount);
       CHECK_EQUAL(0, motorControl.stoppedCount);
       CHECK_EQUAL(1, motorControl.windingDown);
+      CHECK_EQUAL(1, motorControl.null);
 
       // Send Stopped event.
       motorControl.process_event(EventId::STOPPED);
@@ -371,6 +392,7 @@ namespace
       CHECK_EQUAL(1, motorControl.stopCount);
       CHECK_EQUAL(1, motorControl.stoppedCount);
       CHECK_EQUAL(0, motorControl.windingDown);
+      CHECK_EQUAL(1, motorControl.null);
     }
 
     //*************************************************************************