A control system for controlling a motor arrangement for differentially driving left and right wheels of a motorized vehicle, the control system comprising: a comparator for receiving yaw rate sensor signals from a yaw rate sensor attached to the vehicle, the yaw rate sensor signals being indicative of actual yaw rates of the vehicle and for receiving yaw rate reference signals generated by a user input device, the yaw rate reference signals being indicative of user demanded yaw rates for the vehicle, the comparator arranged to output yaw rate error signals based on the difference between the yaw rate sensor signals and the yaw rate reference signals; a control loop for processing the yaw rate error signals to generate yaw rate correction signals for controlling the motor arrangement to reduce the yaw rate error signals, wherein the control loop comprises a variable limiter for limiting the yaw rate correction signals to values within a variable limit, the variable limit varying in dependence upon the yaw rate error signals.