CONTROL SYSTEM FOR TORQUE SOURCE INERTIA COMPENSATION, METHOD, VEHICLE AND COMPUTER PROGRAM

The present invention relates to a control system for compensating for variable inertia in a vehicle powertrain, the method comprising: determining () whether a torque source () is coupled to a wheel (FL, FR), and applying () a torque change in dependence on angular acceleration associated with the torque source (), in dependence on whether the torque source is coupled to the wheel. The present invention further relates to a corresponding method, vehicle, system and computer software.