A system and method for speed/traction/slip control influences a driving engine torque of the vehicle. The method includes: calculating an idealized nominal engine torque from a linear control law applied to the speed/slip error; calculating an idealized setpoint for the speed/slip by applying a reference model to the idealized nominal engine torque; calculating a linearizing feedback with properties of compensating the nonlinearities in the road surface contact, compensating the inertia in the powertrain, and damping the powertrain; using for feedback the engine rotational speed, numerically determined derivation of engine speed, average speed of the driven axis, numerically determined derivative of the rotational speed of the driven axis, actual engine torque, and applying the driving engine torque to the engine vehicle to influence the traction and stability of the vehicle.