A control device for controlling the location of an animal, the control device comprising: a GPS receiver for receiving GPS signals; a processor communicatively coupled to the GPS receiver and operable to continuously determine the position, velocity and heading direction of the animal relative to a target; a stimulus unit for selective application of a stimulus to the animal in response to signals received from the processor; characterised in that: the processor is programmed such that: (a) if it is determined that the position of the animal relative to the target is less than a predetermined distance and the velocity of the animal relative to the target is within a predetermined range and the heading direction of the animal is within a predetermined orientation relative to the target, then a signal indicative of applying a non-aversive stimulus to the animal is generated; (b) when it is determined that (i) the velocity of the animal relative to the target is outside of the predetermined range, or (ii) the heading direction of the animal changes to be outside of the predetermined orientation or the heading direction of the animal changes by more than a predetermined amount, a signal indicative of removal of the non-aversive stimulus is generated; and (c) if neither (b)(i) nor (b)(ii) apply, a signal is generated indicative of first removing the non-aversive stimulus followed by application of an aversive stimulus to the animal. a GPS receiver for receiving GPS signals; a processor communicatively coupled to the GPS receiver and operable to continuously determine the position, velocity and heading direction of the animal relative to a target; a stimulus unit for selective application of a stimulus to the animal in response to signals received from the processor; characterised in that: the processor is programmed such that: (a) if it is determined that the position of the animal relative to the target is less than a predetermined distance and the velocity of the animal relative to the target is within a predetermined range and the heading direction of the animal is within a predetermined orientation relative to the target, then a signal indicative of applying a non-aversive stimulus to the animal is generated; (b) when it is determined that (i) the velocity of the animal relative to the target is outside of the predetermined range, or (ii) the heading direction of the animal changes to be outside of the predetermined orientation or the heading direction of the animal changes by more than a predetermined amount, a signal indicative of removal of the non-aversive stimulus is generated; and (c) if neither (b)(i) nor (b)(ii) apply, a signal is generated indicative of first removing the non-aversive stimulus followed by application of an aversive stimulus to the animal. (a) if it is determined that the position of the animal relative to the target is less than a predetermined distance and the velocity of the animal relative to the target is within a predetermined range and the heading direction of the animal is within a predetermined orientation relative to the target, then a signal indicative of applying a non-aversive stimulus to the animal is generated; (b) when it is determined that (i) the velocity of the animal relative to the target is outside of the predetermined range, or (ii) the heading direction of the animal changes to be outside of the predetermined orientation or the heading direction of the animal changes by more than a predetermined amount, a signal indicative of removal of the non-aversive stimulus is generated; and (c) if neither (b)(i) nor (b)(ii) apply, a signal is generated indicative of first removing the non-aversive stimulus followed by application of an aversive stimulus to the animal.