A control system for controlling a planting machine (100) towed by a towing vehicle (152) is disclosed. The control system comprising: a rate of change identifier component (194) that receives a sensor signal (200, 202) from a sensor (117, 130, 132, 134, 136, 162, 164, 178, 180) placeable on a planting machine (100) or on a towing vehicle (152), the sensor signal (200, 202) being indicative of a sensed variable, the rate of change identifier component (194) identifying a rate of change of the sensed variable based on the sensor signal (200, 202) and a control signal generator component (196) that generates a set of control signals (204, 206) to control a subsystem (111, 158, 157, 168) on a planting machine (100) or on a towing vehicle (152) based on the identified rate of change of the sensed variable. Furthermore, a computer implemented method and a planting machine (100) with a towing vehicle (152) is disclosed.
