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We present a non-linear model of a small three wheeled electric car with one rear wheel and two front steered wheels. Each wheel is actuated by a permanent magnet synchronous in-wheel motor. The model was created for development and testing of advanced control algorithms for increasing the car's performance and safety. It includes models of electric motor, non-linear tire-road characteristics, longitudinal and lateral dynamics, a realistic suspension system and the option to influence car's weight and its distribution.