wherein {HEAD ~ the control} means is configured to adjust {TAIL ~ the second torque} to a second torque final reference value corresponding to a smaller one of the determined second torque reference value and the determined second torque limit value, 
wherein { HEAD ~ the control } means is configured to adjust { TAIL ~ the second torque } to a second torque final reference value corresponding to a smaller one of the determined second torque reference value and the determined second torque limit value ,
OTH HEAD HEAD HEAD HEAD HEAD HEAD OTH REL REL REL REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH