A method for controlling an electric vehicle having a traction motor connected to a driveline includes controlling traction motor output torque through a region surrounding the vehicle wheel torque reversal to mitigate torque disturbances in a driveline, wherein the region is determined using a relationship between driveline input torque and driveline output torque and is bounded by a zero input torque and a zero output torque. A hybrid electric vehicle has a traction motor, a driveline connected to a vehicle wheel, and a controller configured to control traction motor output torque through a region surrounding a vehicle wheel torque reversal to mitigate torque disturbances in the driveline. A control system for a hybrid vehicle includes a traction motor and a controller. The controller is configured to control traction motor output torque through a region surrounding a vehicle wheel torque reversal to mitigate torque disturbances in the driveline.