Abstract: The present invention relates to a method and a device for executing phase compensation in a control system of a motor-driven vehicle, in which the time derivative for an output signal (y) from a circuit (1) contained in the control system is limited relative to the time derivative for an input signal (u) to the circuit (1) if the time derivative for the input signal (u) exceeds a predetermined value. A difference signal (.epsilon.) is formed between the output signal (y) and a signal (x) present in the circuit (1), the time derivative of which is not limited in relation to the time derivative for the input signal (u). The difference signal (.epsilon.) is filtered via an asymptotically stable filter (3) to form a signal (.delta.), which is fed back and added to the input signal (u) of the circuit (1) to form the signal (x). A conventional rate limiter may be used to form the output signal (y) from the signal (x).