Abstract: In an electric vehicle including at least two drive wheels, an electric motor is operatively coupled to each drive wheel and a braking assembly is operatively coupled to each wheel. A controller is operatively coupled to each electric motor and each braking assembly for independently controlling the torque applied to each drive wheel and the braking pressure applied to each wheel. In a method of controlling an electric vehicle, a controller generates motor torque commands and sends them to each electric motor. The controller also generates brake pressure commands and sends them to each brake assembly associated with each wheel. In both the vehicle and the method, the controller may rely upon input received from sensors associated with the vehicle and may perform a control algorithm.