  In vehicle dynamics control, engineering a suitable regulator is a long and
costly process. The starting point is usually the design of a nominal
controller based on a simple control-oriented model and its testing on a
full-fledged simulator. Then, many driving hours are required during the
End-of-Line (EoL) tuning phase to calibrate the controller for the physical
vehicle. Given the recent technological advances, in this paper we consider the
pioneering perspective where the simulator can be run on-board in the
electronic control unit, so as to calculate the nominal control action in
real-time. In this way, it can be shown that, in the EoL phase, we only need to
tune a simple compensator of the mismatch between the expected and the measured
outputs. The resulting approach not only exploits the already available
simulator and nominal controller and significantly simplifies the design
process, but also outperforms the state-of-the-art in terms of tracking
accuracy and robustness within a challenging active braking control case study.
