A wheel hub transmission comprising: an input shaft drivingly engaged with a power source and a planetary gear arrangement; the planetary gear arrangement having a first portion, a second portion, and a third portion; the first portion drivingly engaged with the input shaft and the second portion drivingly engaged with the first portion and the third portion; a casing member in one of driving engagement and selective driving engagement with the third portion; a first clutching device which may be selectively drivingly engaged with one of the first portion of the planetary gear arrangement and the input shaft and the second portion of the planetary gear arrangement, wherein upon one of engagement and disengagement of the first clutching device the first portion of the planetary gear arrangement is fixed with respect to the second portion of the planetary gear arrangement; and a second clutching device which may be selectively drivingly engaged with the third portion and the casing member; characterised in that the wheel hub transmission further comprises a control system in communication with the first clutching device and the second clutching device, the control system comprising a slip controller and a master controller, wherein the slip controller is disposed adjacent at least one of the first clutching device and the second clutching device, the slip controller controlling an amount of torque applied to the second portion of the planetary gear arrangement and the casing member from the input shaft, respectively, and wherein the master controller implements a torque management strategy based on at least a feedback signal from the slip controller, an input shaft drivingly engaged with a power source and a planetary gear arrangement; the planetary gear arrangement having a first portion, a second portion, and a third portion; the first portion drivingly engaged with the input shaft and the second portion drivingly engaged with the first portion and the third portion; a casing member in one of driving engagement and selective driving engagement with the third portion; a first clutching device which may be selectively drivingly engaged with one of the first portion of the planetary gear arrangement and the input shaft and the second portion of the planetary gear arrangement, wherein upon one of engagement and disengagement of the first clutching device the first portion of the planetary gear arrangement is fixed with respect to the second portion of the planetary gear arrangement; and a second clutching device which may be selectively drivingly engaged with the third portion and the casing member; characterised in that the wheel hub transmission further comprises a control system in communication with the first clutching device and the second clutching device, the control system comprising a slip controller and a master controller, wherein the slip controller is disposed adjacent at least one of the first clutching device and the second clutching device, the slip controller controlling an amount of torque applied to the second portion of the planetary gear arrangement and the casing member from the input shaft, respectively, and wherein the master controller implements a torque management strategy based on at least a feedback signal from the slip controller,