An electric machine control system for a vehicle, the electric machine control system comprising one or more controllers, wherein the vehicle comprises an electric machine arranged to be selectively coupleable to provide torque to at least one wheel of an axle of the vehicle, the control system comprising: input means to receive a speed signal indicative of a speed of the vehicle; processing means arranged to determine a desired coupling state of the electric machine to the at least one wheel of the axle in dependence on the speed signal, wherein the processing means is arranged to determine the desired coupling state as: a decoupled state in dependence on the speed signal being indicative of a vehicle speed equal to or greater than a first high-speed threshold; and a no-request state in dependence on the speed signal being indicative of vehicle speed equal to or below a second high-speed threshold, wherein the no-request state is indicative of not requesting a specific coupling state of the electric machine to the at least one wheel of the axle and the second high-speed threshold represents a vehicle speed lower than the first high-speed threshold; and output means arranged to output a coupling signal indicative of the desired coupling state to control coupling of the electric machine to the at least one wheel of the axle; characterized in that the processing means is further arranged to: determine the desired coupling state as the decoupled state in dependence on the speed signal last intersecting the first high speed threshold and being indicative of a vehicle speed below the first high-speed threshold; and, determine the desired coupling state as the no-request state in dependence on the speed signal last intersecting the second high speed threshold and being indicative of a vehicle speed above the second high-speed threshold. input means to receive a speed signal indicative of a speed of the vehicle; processing means arranged to determine a desired coupling state of the electric machine to the at least one wheel of the axle in dependence on the speed signal, wherein the processing means is arranged to determine the desired coupling state as: a decoupled state in dependence on the speed signal being indicative of a vehicle speed equal to or greater than a first high-speed threshold; and a no-request state in dependence on the speed signal being indicative of vehicle speed equal to or below a second high-speed threshold, wherein the no-request state is indicative of not requesting a specific coupling state of the electric machine to the at least one wheel of the axle and the second high-speed threshold represents a vehicle speed lower than the first high-speed threshold; and a decoupled state in dependence on the speed signal being indicative of a vehicle speed equal to or greater than a first high-speed threshold; and a no-request state in dependence on the speed signal being indicative of vehicle speed equal to or below a second high-speed threshold, wherein the no-request state is indicative of not requesting a specific coupling state of the electric machine to the at least one wheel of the axle and the second high-speed threshold represents a vehicle speed lower than the first high-speed threshold; and output means arranged to output a coupling signal indicative of the desired coupling state to control coupling of the electric machine to the at least one wheel of the axle; characterized in that the processing means is further arranged to: determine the desired coupling state as the decoupled state in dependence on the speed signal last intersecting the first high speed threshold and being indicative of a vehicle speed below the first high-speed threshold; and, determine the desired coupling state as the no-request state in dependence on the speed signal last intersecting the second high speed threshold and being indicative of a vehicle speed above the second high-speed threshold.