A system is provided that includes a detection circuit having a first and second sensor. The first sensor is configured to measure a rotational speed of a first wheel. The second sensor is coupled to a vehicle chassis and configured to measure a position over time of the vehicle chassis. The system further includes a controller circuit configured to determine a shock frequency based on the position of the vehicle chassis. The controller circuit is further configured to determine a condition (e.g., an anomalous condition) of the first wheel based on the shock frequency and the rotational speed, and may be further configured for vehicle control based on the determined condition.