This chapter presents a model-based control design for an integrated vehicle system in which several active components are operated simultaneously. In control-oriented modeling vehicle dynamics is augmented with the performance specifications. The performance specifications must be formulated in such a way that the performance demands are guaranteed, conflicts between performances are achieved and a priority between different actuators is created and various fault information is taken into consideration. A supervisory decentralized control structure is also proposed. The performance specifications are guaranteed by the local controllers, while the coordination of these components is provided by the supervisor. Monitoring components provide the supervisor with information needed to make decisions about the necessary interventions into the vehicle motion and guarantee the robust operation of the vehicle. The operation of the integrated system is illustrated through simulation examples.


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