This thesis aims to resume the work done from September 2023 as a research fellow in the IEHV – Innovative Electric Hybrid Vehicles Research Group in developing the high-level control system for an innovative braking system prototype, looking forward to testing procedures planning. The system is ZEDS, Zero-Emission Driving System, designed to be an alternative solution to friction brakes, obtaining zero-emissions. This solution is composed of an in-wheel electric motor, which provides energy regeneration during braking manoeuvres, and a magnetorheological fluid braking system, an electrically actuated non-friction-based brake designed to not produce pollutants during usage. A prototype for this architecture has been produced and testing is going to be performed to assess its performance in terms of braking capability, energy efficiency, and pollutant emissions, other than checking its reliability with the necessary voltages and currents applied.