Following the growth of the electric vehicles industry, different configurations of electrified powertrain are being developed. The first generations of electric vehicles, saw the application of only one electric motor, maintaining the driveline structure of internal combustion engine vehicles: this solution was firstly developed because of its application ease but has limits on the control and stability point of view. Different configurations of electric vehicles have been explored and developed in the last years: examples with one electric motor per axle and cars with three electric motors exist. The new generation Electric vehicles follow a 4 In-Wheel-Motor (4IWM) configuration: so the application of an electric motor for each wheel directly connected to the wheel-hub.