The integrated chassis control of over-actuated X-by-Wire architectures (as with the ROboMObil), where the steering angle, driving and braking torque of each wheel can be individually imposed, has been an important research topic at the institute. These architectures offer unique opportunities such as high vehicle maneuverability, improved stability and optimized energy efficiency. On the other hand, they pose challenges for vehicle dynamics control such as the distribution of the actuation effort among the multitude of actuators. The motion execution layer in the scalable vehicle dynamics control architecture is developed under the requirement to address these challenges. The main goal of its core function, the so-called vehicle dynamics controller (VDC), is to distribute the control effort among the actuators (i.e. control allocation), such that the kinematic motion demand generated by the vehicle application layer is accurately realized while additional requirements such as stable operation and optimized energy efficiency are fulfilled. The VDC uses a quasi-decoupled representation of the vehicle’s lateral dynamics to independently control the vehicle’s chassis side-slip angle and yaw-rate. The transient performance has been further enhanced with the help of an inverse vehicle model. Additionally, real-time capable optimization-based approaches, seeking control allocation that minimize the energy losses and tire slips, have also been investigated. The designed VDC is implemented in the ROboMObil’s central control unit and thoroughly validated in several test campaigns carried out on multiple road surface conditions in different vehicle test tracks across Germany, under both critical and noncritical driving maneuvers. In addition, MPC combined with inverse model-based control allocation was investigated in a separate study. Models at different levels of detail for vehicle dynamics and components constitute a basis for all automotive activities. Modelica libraries in the areas of vehicle dynamics, driver models, powertrains and vehicle controls have been the focus of development over the last decades. Recent contributions address, amongst others, vertical dynamics or extensive anti-roll bar models, which can be used to simulate driving maneuvers as well as noise, vibration and harshness scenarios.