Machine stability detection and control

A mobile work machine includes a frame; ground engaging elements movably supported by the frame and driven by a power source to drive movement of the machine; a moveable element movably supported by the frame to move relative to the frame; an actuator coupled to the moveable element to controllably drive movement of the moveable element; a control system that generates an actuator control signal, indicative of a commanded movement of the actuator, and provides the actuator control signal to the actuator to control the actuator to perform the commanded movement; a terrain identifier configured to identify a characteristic of terrain in a geographic area around the machine; and a stability system that determines whether the commanded movement will result in an unstable state of the machine based on the characteristic of the terrain and, if so, generates a restriction signal, restricting the commanded movement to avoid the unstable state.