In this paper we propose a control architecture that combines velocity, sideslip angle and yaw rate regulation with motor temperature regulation on a electric vehicle with four independent electric motors. The linear controller incorporates both the vehicle dynamics and the electric motor dynamics by combining a four-wheel vehicle model with a motor degradation model. It is found that, the resulting controller not only enhances the vehicle stability of the vehicle, but also extends the lifetime of motors by regulating their temperatures. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.