System and method of vehicle system control

A method comprising:

• controlling a rotational speed at which a first axle of a vehicle system is rotated by a first motor based on a throttle setting of the vehicle system and a first vehicle reference speed, the first vehicle reference speed determined from a group of input speeds that includes an onboard-based input speed and an off-board-based input speed;
• and
• controlling a rotational speed at which at least a second axle of the vehicle system is rotated by a second motor based on the throttle setting and a second vehicle reference speed, the second vehicle reference speed determined from the onboard-based input speed, wherein the rotational speeds of the first axle and the at least a second axle are controlled based on the respective first and second vehicle reference speeds.