A control system for a vehicle, comprising: a torque limit calculator means , a torque request module comprising a first torque control module , and a second torque control module separate to the torque request module; wherein the torque limit calculator means is configured to generate a torque control signal based on one or more vehicle operating parameters, wherein the torque limit calculator means is configured to output the torque control signal via a first output to the first torque control module, and output the torque control signal via a second output to the second torque control module; wherein the torque request module is configured to generate a torque request signal ; wherein the first torque control module is configured to receive the torque request signal, and is configured to receive the torque control signal from the torque limit calculator means via the first output; wherein the first torque control module is configured to adjust the torque request signal based on the torque control signal; wherein the torque request module is configured to output a first electric drive motor torque demand signal ; wherein the second torque control module is configured to: receive the torque control signal from the torque limit calculator means via the second output and the first electric drive motor torque demand signal from the torque request module; perform a validation to determine whether the first electric drive motor torque demand signal is valid based on the torque control signal; and output a second electric drive motor torque demand signal to control the torque applied by an electric drive motor (M). a torque limit calculator means , a torque request module comprising a first torque control module , and a second torque control module separate to the torque request module; wherein the torque limit calculator means is configured to generate a torque control signal based on one or more vehicle operating parameters, wherein the torque limit calculator means is configured to output the torque control signal via a first output to the first torque control module, and output the torque control signal via a second output to the second torque control module; wherein the torque request module is configured to generate a torque request signal ; wherein the first torque control module is configured to receive the torque request signal, and is configured to receive the torque control signal from the torque limit calculator means via the first output; wherein the first torque control module is configured to adjust the torque request signal based on the torque control signal; wherein the torque request module is configured to output a first electric drive motor torque demand signal ; wherein the second torque control module is configured to: receive the torque control signal from the torque limit calculator means via the second output and the first electric drive motor torque demand signal from the torque request module; perform a validation to determine whether the first electric drive motor torque demand signal is valid based on the torque control signal; and output a second electric drive motor torque demand signal to control the torque applied by an electric drive motor (M). <EOS>