The braking system involves the integration of mechanical and electric actions. The aim is to create a Simulink model that can be incorporated into the vehicle model. This process begins with the Reference Slip Generator, the Reactive Torque Controller, and the torque demand initiated by the driver. The torque is then distributed between the Electric Motor and the Brakes, either in the Vehicle Model or the Real Vehicle. The flow continues through the Slip and Velocity Observers, providing feedback to the Reactive Torque Controller. The Simulink model exhibits distinct vehicle speed versus wheel speed behaviors, comparing them against the reference slip for both the front and rear wheels.