This thesis work focuses on the multiple control modalities development and experimental validation of a 1:5 scaled vehicle using a real-time target machine. The 1:5 scaled vehicle is the Losi 5IVE-T 2.0, which is a 4WD, radio-controlled vehicle that has been upgraded from equipping with a 2-stroke internal combustion engine (ICE) to an electrified version using an e-motor, an e-motor controller, and a battery. The real-time target machine is the Speedgoat Baseline, which is a compact and efficient system for this thesis work. It integrates MATLAB and Simulink workflows seamlessly through Simulink Real-Time and supports real-time testing of control modalities by utilizing supported I/O modules.