A controller for a motorised vehicle having at least a left wheel and a right wheel is provided, wherein the left wheel is driven by a left motor and the right wheel is driven by a right motor. The controller is arranged to receive control signals from a user input device of the motorised vehicle. The controller comprises motor monitoring circuitry configured to monitor output signals from the left motor and the right motor respectively and to detect in dependence on the output signals a loading imbalance between the left motor and the right motor. The motor control circuitry is configured, on detection of a loading imbalance, to apply a slowing correction to a less loaded motor of the left motor and the right motor.
