An articulated machine having a first frame and a second frame supported by first and second wheel assemblies respectively is provided. The machine includes a first sensor and a second sensor to provide position information of the first frame and the second frame respectively. The machine includes a drive train to couple the front and rear wheel assembly, and having an inter axle differential to facilitate the front and the rear wheel assembly to move at different speeds. The machine includes a controller to compare position of the first frame with position of the second frame to determine relative position of the second frame with respect to the first frame. The controller compares the relative position of the second frame with a predefined position limit. The controller selectively locks the inter axle differential when the determined relative position of the second frame is greater than the predefined position limit.