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Ground speed control of a large wheel loader (LWL) is a very important part of a truck loading cycle. Since the engine is at full throttle for most part of a loading cycle, the ground speed is controlled by an impeller clutch/brake pedal. Essentially, this mechanical pedal, when engaged, disconnects the engine from the driveline and applies the service brakes. However, in order to properly control the ground speed of a large wheel loader, an appropriate powertrain control strategy is needed for the directional shifts (1R-1F, 2R-2F, etc.). These shifts are usually associated with unacceptable levels of jerk and acceleration. A reference trajectory for the vehicle speed based on the desired jerk and acceleration traces can be generated which, when properly tracked by appropriate control of the impeller clutch and the brakes, results in the desired levels of jerk and acceleration. A tracking controller is therefore appropriate.