minimum and maximum values at this point method 200 then goes to step 224 where the left front wheel gains are applied this sequence as illustrated in method 200 with appropriate references to other wheel speeds is repeated in methods 300 400 and 500 for the other wheels the gains for each of the wheels is calculated in step 116 see fig4 as the product of the positive gain for that wheel times the negative gain of the wheel on an opposite axle and times the negative gain of the other wheel on the opposite axle the gains are filtered at step 118 using a variable corner first order low pass filter where the pole has a lower limit and the pole location of the filter is a function of the rate of change of the input at step 120 the commands are calculated that are to be applied to each of the motors for each of the wheels by multiplying the command input times the gain for each of the respective wheels to result in the command to be issued to each of the drive units associated with the wheels the foregoing method having been described as issuing a command for each wheel can in a similar manner be applied to associated wheels in the event that there is not a drive for each wheel for example if.