Full electric vehicles with wheel-hub motors offer a tremendous potential in controlling each wheel individually to enhance vehicle's dynamic and energy performance. This thesis presents a novel control algorithm to handle wheels torques individually through feedforward and feedback control and through power efficiency optimization. The control algorithm has been entirely developed in Matlab and Simulink and implemented in the vehicle model through a co-simulation with VI-CarRealTime software. The model was finally tested in a real static simulator to have a subjective evaluation of the dynamic behaviour of the vehicle.