A system for supervisory control for eAWD and eLSD in a motor vehicle includes a control module, and sensors and actuators disposed on the motor vehicle. The sensors measure real-time motor vehicle data, and the actuators alter behavior of the motor vehicle. The control module receives the real-time data; receives one or more driver inputs to the motor vehicle; determines a status of a body of the motor vehicle; determines a status of axles of the motor vehicle; determines a status of each wheel of the motor vehicle; and generates a control signal to the actuators from the driver inputs and the body, axle, and wheel statuses. The control module also exercises supervisory control by actively adjusting constraints on the control signal to each of the actuators where actively adjusting constraints on the control signal alters boundaries of control actions in response to the one or more driver inputs.