Abstract: A system for controlling torque in a vehicle includes a controller connected to a propulsion system having a plurality of independently controllable actuators configured to apply a combined torque. The controller is configured to perform a method including detecting a combined torque request indicating a total requested torque to be applied to the vehicle, where the total requested torque is split and a portion of the total requested torque is assigned to each actuator. The method further includes determining a torque command for each actuator, estimating a total applied torque provided to the vehicle, and based on a difference between the total applied torque and the total requested torque being greater than a first threshold, calculating an error value for each actuator, comparing each error value to a reference value, and performing a remedial action based on at least one error value exceeding the reference value.