Control system for controlling a motor arrangement for differentially driving left and right wheels of a motorized vehicle

A control system for controlling a motor arrangement for differentially driving left and right wheels of a motorized vehicle, the control system comprising:

• a comparator for receiving a yaw rate sensor signal from a yaw rate sensor, the yaw rate sensor signal being indicative of an actual yaw rate of the vehicle and for receiving a yaw rate reference signal generated by a user input device, the yaw rate reference signal being indicative of a user demanded yaw rate for the vehicle, the comparator arranged to output a yaw rate error signal based on a difference between the yaw rate signal and the yaw rate reference signal;
• a compensator that generates a yaw rate correction signal based upon the yaw rate error signal, wherein the yaw rate correction signal is configured to reduce the yaw rate error signal;
• a motor control function that is configured to control the motor arrangement of the motorized vehicle based upon the yaw rate error correction signal generated by the compensator;
• a variable limiter, operably coupled between the compensator and the motor control function, that is configured to limit the yaw rate correction signal supplied to the motor control function to values within a variable maximum yaw rate correction limit;
• and
• a limit calculator for continuously calculating the variable maximum yaw rate correction limit in dependence upon at least one signal supplied to the limit calculator.