VEHICLE SYSTEM

A vehicle system includes: a drivetrain that includes an electric motor configured to drive rotation of a wheel; an input device that receives an input and outputs an initial throttle command responsively; an electronic control module that receives the initial throttle command from the input device and outputs an adjusted throttle command, wherein the adjusted throttle command is determined based on a natural frequency of the drivetrain; a first sensor that senses an output of the electric motor; and an inverter having control circuitry that receives the adjusted throttle command from the electronic control module and receives sensor data from the first sensor and controls power supplied to the electric motor based on the sensor data and the adjusted throttle command to counter torsional wind-up of the drivetrain.