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In front wheels driven vehicles, fuel economy can be obtained by summing torques applied on rear wheels. On the other hand, unequal torques applied to rear wheels provide enhanced safety. In this paper, a model with seven degrees of freedom is considered for vehicle body. Thereafter, power-train subsystems are modeled. Considering an electrical machine on each rear wheel, a fuzzy controller is designed for each driving, braking, and stability conditions. Another fuzzy controller recognizes the vehicle requirements between the driving/regeneration and stability modes. Simulations performed in MATLAB/Simulink environment show that the proposed structure can enhance the vehicle performance in different modes effectively.