According to an example embodiment of the present invention, the TCS control action with smaller gradients is performed only when {TAIL ~ the number} of {HEAD ~ TCS control cycles} at a high gradient has reached a defined value 
According to an example embodiment of the present invention , the TCS control action with smaller gradients is performed only when { TAIL ~ the number } of { HEAD ~ TCS control cycles } at a high gradient has reached a defined value
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH