Reduction of undesired rotational wheel speed

A computer-implemented method for reducing rotational speed of at least one wheel of a vehicle, the method comprising:

• determining, by processing circuitry of a computer system, a first value of rotational kinetic energy of one or more powertrain components of the vehicle when the at least one wheel is rotating at a current rotational speed;
• acquiring, by the processing circuitry, a second value of rotational kinetic energy of the one or more powertrain components when the at least one wheel is rotating at a rotational speed where the wheel has a desired amount of slip;
• determining, by the processing circuitry, an energy difference between the first value of rotational kinetic energy and the second value of rotational kinetic energy;
• determining, by the processing circuitry, a first retardation torque pulse corresponding to the determined energy difference;
• and
• causing, by the processing circuitry, the determined first retardation torque pulse to be applied to at least one of the one or more powertrain components to reduce the rotational speed of the at least one wheel.