How do you design an integrated chassis control system that coordinates multiple actuators?

Integrated chassis control (ICC) coordinates brakes, steering, suspension, and powertrain for optimal vehicle behavior. Architecture includes supervisory controller receiving driver inputs and vehicle states, motion controller generating force/moment requests at vehicle CG, and control allocation distributing requests to actuators based on their capabilities and efficiency. Design challenges include actuator saturation handling, fault management, transition smoothness between systems, and avoiding control conflicts. Modern approaches use model predictive control for optimal allocation. Validation requires extensive integration testing across all operating modes and failure combinations.