A system (104, 104') for controlling a wheel (102, 102') of a vehicle provided with at least two torque actuators (114, 116; 114', 116') for providing a torque to the wheel, the system comprising: - a vehicle control unit, VCU, and - a control module, CM (112, 112'), configured to control the torque actuators, wherein the VCU is configured to send to the CM (112, 112'): - a first signal containing a first target in the form of a requested parameter value of at least one parameter to be controlled by means of the torque actuators with respect to the wheel, and - a second signal containing a second target in the form of a desired recuperation power or in the form of a desired parameter split ratio between the torque actuators, characterized in that the CM is configured to: - determine if there is a conflict between the first target and the second target, and when there is a conflict between the first target and the second target, then the CM is configured to, based on one or more predefined criteria, - determine and apply a parameter value of said at least one parameter, and - determine and allocate a recuperation power or a parameter split ratio, such that the applied parameter value is different from the requested parameter value and/or the allocated recuperation power or parameter split ratio is different from the desired recuperation power or parameter split ratio. - a vehicle control unit, VCU, and - a control module, CM (112, 112'), configured to control the torque actuators, wherein the VCU is configured to send to the CM (112, 112'): - a first signal containing a first target in the form of a requested parameter value of at least one parameter to be controlled by means of the torque actuators with respect to the wheel, and - a second signal containing a second target in the form of a desired recuperation power or in the form of a desired parameter split ratio between the torque actuators, characterized in that the CM is configured to: - determine if there is a conflict between the first target and the second target, and - a first signal containing a first target in the form of a requested parameter value of at least one parameter to be controlled by means of the torque actuators with respect to the wheel, and - a second signal containing a second target in the form of a desired recuperation power or in the form of a desired parameter split ratio between the torque actuators, characterized in that the CM is configured to: - determine if there is a conflict between the first target and the second target, and when there is a conflict between the first target and the second target, then the CM is configured to, based on one or more predefined criteria, - determine and apply a parameter value of said at least one parameter, and - determine and allocate a recuperation power or a parameter split ratio, - determine and apply a parameter value of said at least one parameter, and - determine and allocate a recuperation power or a parameter split ratio, such that the applied parameter value is different from the requested parameter value and/or the allocated recuperation power or parameter split ratio is different from the desired recuperation power or parameter split ratio.