Abstract: Wheel slippage of a machine may be controlled using brake control and engine torque control. In some examples, the present disclosure describes a method of controlling a wheel. Example methods may include sensing a rotational speed of the wheel, and sensing an acceleration of the machine. The method may also include estimating a target speed of the wheel based at least in part on the rotational speed of the wheel and the acceleration of the machine. The method may continue with calculating a speed error, the speed error being a difference between the rotational speed and the target speed. The method may also include controlling a brake of the wheel based on the speed error and/or a torque of an engine of the machine based on the speed error.