How do you design a torque vectoring control system for a multi-motor EV?

Multi-motor torque vectoring distributes torque between wheels to improve handling and stability. Control architecture includes: Reference model generating desired yaw rate from steering input and speed, feedback controller comparing actual vs desired yaw rate, feed-forward compensation for known dynamics, constraints on maximum torque difference to prevent stability issues, integration with ESC and traction control, and driver mode selection (comfort vs sport vectoring intensity). Implementation considers motor response time, wheel slip detection, and thermal limits. Benefits include improved cornering response, neutral handling balance, and enhanced traction utilization. Validation includes handling maneuvers and winter testing.