Torque control of a vehicle powertrain based on a time derivative for a dynamic torque

A system configured to control a change of a time derivative for a dynamic torque, the dynamic torque is provided to an output shaft from an engine in a vehicle, the system comprising:

• a first determining device configured for determining a desired change of the time derivative for the dynamic torque from a current value to a new desired value;
• a second determining device configured for determining a current rotational difference between a first end of a powertrain in the vehicle rotating with a first rotational speed, and a second end of the powertrain rotating with a second rotational speed;
• a torque control device configured for performing controls of the first rotational speed,
• wherein the control of the first rotational speed is based on a desired value for the time derivative for the dynamic torque, on a spring constant related to a torsional compliance in the powertrain and on the current rotational speed,
• wherein the current value for the time derivative for the dynamic torque is indirectly controlled in the direction towards the desired value, through the control of the said first rotational speed.