A method for controlling a machine with a dual path electronically controlled hydrostatic transmission, the method comprising: providing a machine having an engine, an operator input device suitable for being manipulated by an operator in order to steer and control the speed of the machine and an electronically controlled hydrostatic transmission, the electronically controlled hydrostatic transmission including an input device, a first drive system and a second drive system, each of the first drive system and the second drive system having at least one pump (206, 210) and at least one motor (204, 208) each controlled by respective solenoids, the input device providing a speed setting value for the first drive system and the second drive system, said speed setting value corresponding to a limit to the maximum machine speed at a full stroke of the operator input device in either the forward or reverse direction; generating at least one command for controlling said solenoids of the at least one pump (206, 210) and the at least one motor (204, 208) of each of the first drive system and the second drive system with a controller; determining a change in the at least one generated command using the controller; characterized by determining a ramping parameter based on the speed setting value provided by the input device and intended to modify the rate of change of the at least one generated command, the ramping parameter being scaled in response to a determination that the provided speed setting value is less than a maximum speed setting value; applying the determined ramping parameter to the at least one generated command to generate at least one modified command in response to the determination of a change in the at least one generated command; and applying the at least one modified command to the at least one pump (206, 210) and the at least one motor (204, 208) of each of the first drive system and the second drive system. providing a machine having an engine, an operator input device suitable for being manipulated by an operator in order to steer and control the speed of the machine and an electronically controlled hydrostatic transmission, the electronically controlled hydrostatic transmission including an input device, a first drive system and a second drive system, each of the first drive system and the second drive system having at least one pump (206, 210) and at least one motor (204, 208) each controlled by respective solenoids, the input device providing a speed setting value for the first drive system and the second drive system, said speed setting value corresponding to a limit to the maximum machine speed at a full stroke of the operator input device in either the forward or reverse direction; generating at least one command for controlling said solenoids of the at least one pump (206, 210) and the at least one motor (204, 208) of each of the first drive system and the second drive system with a controller; determining a change in the at least one generated command using the controller; characterized by determining a ramping parameter based on the speed setting value provided by the input device and intended to modify the rate of change of the at least one generated command, the ramping parameter being scaled in response to a determination that the provided speed setting value is less than a maximum speed setting value; applying the determined ramping parameter to the at least one generated command to generate at least one modified command in response to the determination of a change in the at least one generated command; and applying the at least one modified command to the at least one pump (206, 210) and the at least one motor (204, 208) of each of the first drive system and the second drive system.