A vehicle control system for controlling the height of a linkage on a vehicle having a CVT in which the linkage is automatically raised and lowered depending on a draft force detected by the vehicle. An input draft force detected by sensors in the CVT or driveline is inputted into the control system and the system further processes said input draft force to provide an output draft force upon which movement of the linkage is based. The control system processes the input draft force by compensating the input draft force detected during acceleration or deceleration and/or compensating the input draft detected whilst travelling along a slope, and/or equalising the input draft force by applying a ramp function, and/or reducing the input draft force when the linkage is at a predetermined height.
