A system for distributing propulsion to front and rear axles of a vehicle includes: a front axle motor coupled to the front axle and a rear axle motor coupled to the rear axle. An electronic control unit (ECU) electronically coupled to the motors commands the rear axle motor to increase torque supplied to the rear axle during understeer and commands the front axle motor to increase torque supplied to the front axle during oversteer. A method to distribute propulsion to front and rear axles of a vehicle includes estimating actual yaw rate, estimating desired yaw rate, providing electrical energy to the front axle motor during oversteer, and providing electrical energy to the rear axle motor during understeer. Additionally, electrical energy may be extracted from the rear axle motor during oversteer and electrical energy may be extracted from the front axle motor during understeer.