A control system for an active powertrain mount includes a control signal which is based on the input velocity of the chassis at the active powertrain mount. The control signal may be proportional to the input velocity or to the mount velocity, which is the difference between the input velocity of the chassis at the active powertrain mount and the output velocity of the powertrain component at the active powertrain mount. The input velocity of the chassis at the active powertrain mount may be determined by a controller based on the CG heave and the roll and pitch velocities of the chassis. The output velocity of the powertrain component at the active powertrain mount is determined by the controller by integrating an acceleration signal from a component accelerometer disposed on the powertrain component proximate to the active powertrain mount. Corresponding methods for controlling an active powertrain mount are also provided.