1.1 Overview of project This report is dedicated to the implementation of project tasks aimed at developing and validating a new generation of electric drives for automotive transport. The project considered two key technological lines: the use of In-Wheel Motors (IWM) in an e-corner configuration, and the use of axial electric machines as part of an e-axle system. The main objective of this stage was to preliminarily test the performance of individual components and subsystems, as well as to validate control algorithms in conditions close to real-life operation. The utilization of IWMs and axial motors creates opportunities for improvements in energy-efficiency, improved dynamic characteristics, and the implementation of new vehicle motion control functions, including the distribution of traction and braking forces at the level of individual wheels. These technologies create the basis for more flexible powertrain architectures and expand the potential of integrated control systems. The report presents the results of experimental studies conducted on assembled test benches to evaluate the correct functioning of control elements and analyse the effectiveness of the interaction between hardware and software components of the e-corner and e-axle systems. 1.2 Deliverable Objective and Results In the framework of this step, a transition was made from research in the Model-in-the-Loop (MiL) environment, carried out in Task 5.2, to experiments in the Hardware-in-the-Loop (HiL) environment. Control algorithms were previously developed and configured in the MiL environment, after which they were validated and tested in real time on dSPACE platforms. This made it possible to evaluate the performance and quality of the controllers before their subsequent integration with the e-corner and e-axle systems, planned as part of Work Package 6 (WP6).