“…It is indicated by the relatively small volume of research publications (Gordon et al, 2003;Gordon, 1996;Rodic and Vukobratovie, 2000;Karbalaei et al, 2007;He et al, 2006;Chang and Gordon, 2007;Trächtler, 2004). In the studies, there are two types of hierarchical control architecture: twolayer architecture (Gordon et al, 2003;Gordon, 1996;Rodic and Vukobratovie, 2000;Karbalaei et al, 2007;He et al, 2006) and three-layer architecture (Chang and Gordon, 2007;Trächtler, 2004). For instance in (Chang and Gordon, 2007), a three-layer model-based hierarchical control structure was proposed to achieve modular design of the control systems: an upper layer for reference vehicle motions, an intermediate layer for actuator apportionment, and a lower layer for stand-alone actuator control.…”