The present invention relates to a controller for controlling at least first and second propulsion units to generate a combined torque at least substantially equal to a total requested torque. At least first and second torque ranges are determined for each of the at least first and second propulsion units. The at least first and second torque ranges are determined to maintain dynamic stability of the vehicle. A total power cost is determined in dependence on an estimated power loss of the at least first and second propulsion units within said at least first and second torque ranges and a minimum value of the determined total power cost identified. The torque to be generated by each of said at least first and second propulsion units corresponding to the identified minimum value of the total power cost is determined. At least first and second control signals are generated to control said at least first and second propulsion units to generate the determined torque. The present invention also relates to a vehicle incorporating the controller and a related method.
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