System for controlling the machine torque of a vehicle comprising a first drive wheel associated to a first motor and a second drive wheel (2") associated to a second motor (3"), a steering member and an accelerator member, which can be actuated by a vehicle user, said control system comprising: a user-interface device for the control of the system by the user; means for detecting the steering angle (δ) associated to the steering member suitable to generate a signal representing the steering angle; means for detecting the throttle level (θ) of the accelerator member suitable to generate a signal representing the throttle level of the accelerator member; means for detecting the yaw rate of the vehicle ( ψ̇) suitable to generate a signal representing the yaw rate of the vehicle; means for detecting the speed of the vehicle (v) suitable to generate a signal representing the speed of the vehicle; a drive module comprising: - a module for determining a common reference drive signal (Icommon) representing a reference torque which is common between the first and the second (3") motors on the basis of at least said signal representing the throttle level (θ) of the accelerator member; - a module for determining a reference yaw rate ( ψ̇ ref) on the basis of at least the signals representing the steering angle (δ) and the speed of the vehicle (v) according to a predetermined relation which can be defined by the user through the user-interface-device; - a module for determining a differential reference drive signal (Al) representing a reference torque difference between the first and the second (3") motors on the basis of at least the signal representing the yaw rate of the vehicle ( ψ̇) and the reference yaw rate ( ψ̇ ref). a user-interface device for the control of the system by the user; means for detecting the steering angle (δ) associated to the steering member suitable to generate a signal representing the steering angle; means for detecting the throttle level (θ) of the accelerator member suitable to generate a signal representing the throttle level of the accelerator member; means for detecting the yaw rate of the vehicle ( ψ̇) suitable to generate a signal representing the yaw rate of the vehicle; means for detecting the speed of the vehicle (v) suitable to generate a signal representing the speed of the vehicle; a drive module comprising: - a module for determining a common reference drive signal (Icommon) representing a reference torque which is common between the first and the second (3") motors on the basis of at least said signal representing the throttle level (θ) of the accelerator member; - a module for determining a reference yaw rate ( ψ̇ ref) on the basis of at least the signals representing the steering angle (δ) and the speed of the vehicle (v) according to a predetermined relation which can be defined by the user through the user-interface-device; - a module for determining a differential reference drive signal (Al) representing a reference torque difference between the first and the second (3") motors on the basis of at least the signal representing the yaw rate of the vehicle ( ψ̇) and the reference yaw rate ( ψ̇ ref). - a module for determining a common reference drive signal (Icommon) representing a reference torque which is common between the first and the second (3") motors on the basis of at least said signal representing the throttle level (θ) of the accelerator member; - a module for determining a reference yaw rate ( ψ̇ ref) on the basis of at least the signals representing the steering angle (δ) and the speed of the vehicle (v) according to a predetermined relation which can be defined by the user through the user-interface-device; - a module for determining a differential reference drive signal (Al) representing a reference torque difference between the first and the second (3") motors on the basis of at least the signal representing the yaw rate of the vehicle ( ψ̇) and the reference yaw rate ( ψ̇ ref).