1. A method of limiting belt slip in a continuously variable transmission (CVT) of a vehicle, the CVT being operatively connected to an engine, the method comprising: determining a slip speed of a belt of the CVT; determining the accumulated energy based on the slip speed of the belt and an engine torque produced by the engine; and controlling the engine torque in an intervention mode when the accumulated energy is greater than a threshold energy, wherein controlling the engine torque in the intervention mode comprises controlling at least one of: cycling the engine torque; and limiting the engine torque.