A control system for an off-road vehicle is configured to provide automatic guidance for the vehicle. The control system is configured to apply an estimator to determine a plurality of system process parameters, determine a reference model based at least in part on user input, determine a plurality of control parameters using the process parameters and the reference model, determine a guidance input according to the control parameters, a setpoint of a desired output, and a previously measured output, and use the guidance input to automatically guide the vehicle. The estimator is configured to determine the plurality of system process parameters such that the control system automatically guides the vehicle so that the vehicle responds substantially in the same manner across different ground surface conditions, hitch forces and vehicle velocities.