A wheeled vehicle incorporating a control methodology for regulating the power input and output of an inertial energy storage device, specifically a flywheel. The control methodology utilizes a continuously variable transmission (CVT) and comprises control of the CVT speed ratio based on feedback of the CVT output torque. The CVT ratio control signal is based on an error signal equal to the difference between operator input and CVT output torque. Operator input may be a positive or a negative value, a negative value corresponding to regenerative power. Operator input corresponds to required force or torque analogous to throttle opening or braking effort. This methodology continuously synchronizes the speeds of the inertial energy storage device and vehicle wheels, keeping frictional losses to a minimum.