In order for Monash Motorsport to break into the next league of performance it was decided that 4WD had to be adopted for the M21 concept, their latest electric racecar. With it brings a whole host of new challenges from what control algorithm needs to be implemented to prevent 75m of wheelspin or to prevent the car from understeering like a pig. Given that all wheels are now driven it could easily be the case that all of them are slipping, so it becomes a non trivial problem to determine the car’s speed.