This thesis was carried out in collaboration with Control Sistem, a leading company in the development of solutions and equipment in the automotive sector. Up to now, a car roller test stand has been installed and used at this company for homologation. In order to improve the performance of this instrumentation, Control Sistem intended the utility to have an accurate dynamic mathematical model and to develop a dynamic simulator for the roller test bench. The availability of a simulation tool for both vehicle and bench dynamics is in fact of fundamental importance for analyzing the most important dynamic properties, obtaining useful information from road simulation and optimizing research and development work.