Nonlinear Model Predictive Yaw Moment Control Through Electric Axle and Friction Brake Torque Distribution Authors Aldo Sorniotti (ORCID: https://orcid.org/0000-0002-4848-058X) Carmine Caponio (ORCID: https://orcid.org/0000-0003-1845-5997) Davide Tavernini (ORCID: https://orcid.org/0000-0001-5171-8803) Ahu Ece Hartavi Gaetano Tavolo (ORCID: https://orcid.org/0000-0002-7764-1020) Giulio Reina (ORCID: https://orcid.org/0000-0003-1793-4419) Basilio Lenzo (ORCID: https://orcid.org/0000-0002-8520-7953) Giacomo Mantriota (ORCID: https://orcid.org/0000-0003-3331-6864) Pietro Perlo (ORCID: https://orcid.org/0000-0002-2851-1967) Javad Ahmadi (ORCID: https://orcid.org/0000-0002-3910-9914) Institutions University of Padua (IT) Politecnico di Torino (IT) University of Derby (GB) University of Surrey (GB) Torino e-district (IT) Payame Noor University (IR) Polytechnic University of Bari (IT) Explore the Global Research Space Interactive Map