A control system performs a method for controlling pitching and bouncing of a vehicle having an engine driving wheels through a transmission, and having a fuel control unit for supplying a variable amount of fuel to the engine in response to fuel control signals generated by an engine control unit. The method includes, from front and rear acceleration signals, generating vehicle pitch and bounce signals, converting the pitch and bounce signals to RMS pitch and bounce values, generating a fuel offset value as a function of the RMS pitch and bounce values, and modifying fuel delivered to the engine as a function of the fuel offset value. The fuel offset value is operate don by a bi-linear gain function wherein negative values are multiplied by a larger gain and positive values are multiplied by a smaller gain.