A system for real time control of a wheel slip of each slipping wheel of a pair of wheels associated with a first axle of a motor vehicle, simultaneously and independently with real time explicit control of said motor vehicle's acceleration provided by each non-slipping wheel associated with the first axle, the system comprising: a coordinated wheel controller subsystem having: a first total controller associated with the first axle of the vehicle for generating a torque signal T TC used to control the total dynamics of the first axle; a first asymmetric controller associated with the first axle, which is operable to generate another torque signal T AC to control the asymmetric dynamics of the first axle; the first total controller and the first asymmetric controller each further configured to include: a wheel slip feedback control mode; and a feed forward control mode; the first total controller and the first asymmetric controller each further configured to detect a real time operating condition of each said wheel which includes a wheel slip condition and a wheel non-slip condition, and to augment their respective wheel slip feedback control mode and feed forward control mode, the augmentation being based on the detected operating condition of each said wheel and a pre-defined table of conditions; and a distributor subsystem used for generating a drive torque target T D if the drive train of the motor vehicle is associated with the first axle and the drive torque is controllable, and further generating a brake torque target for each wheel (T BL for a left wheel and T BR for a right wheel) associated with the first axle, in response to the CWC subsystem's output signals and in a manner such that the following equations are generally satisfied: { T TC = T D − T BL − T BR T AC = − T BL + T BR a first total controller associated with the first axle of the vehicle for generating a torque signal T TC used to control the total dynamics of the first axle; a first asymmetric controller associated with the first axle, which is operable to generate another torque signal T AC to control the asymmetric dynamics of the first axle; the first total controller and the first asymmetric controller each further configured to include: a wheel slip feedback control mode; and a feed forward control mode; a wheel slip feedback control mode; and a feed forward control mode; the first total controller and the first asymmetric controller each further configured to detect a real time operating condition of each said wheel which includes a wheel slip condition and a wheel non-slip condition, and to augment their respective wheel slip feedback control mode and feed forward control mode, the augmentation being based on the detected operating condition of each said wheel and a pre-defined table of conditions; and a distributor subsystem used for generating a drive torque target T D if the drive train of the motor vehicle is associated with the first axle and the drive torque is controllable, and further generating a brake torque target for each wheel (T BL for a left wheel and T BR for a right wheel) associated with the first axle, in response to the CWC subsystem's output signals and in a manner such that the following equations are generally satisfied: { T TC = T D − T BL − T BR T AC = − T BL + T BR