The recent power add-on drive wheelchairs (PADWs) provide greater physical activity and easier transportability and may be an excellent alternative for the typical manual and powered wheelchairs. The driving system consists of a motor and a motor driver is the most important component of the PADW In this paper, design, implementation, and testing of a driving system for a PADW are presented. To design the output power and torque for the driving system, the equation of motion has been investigated. The motor and driver were fabricated with precise machining and assembled to implement our prototype driving system. The dynamometer test has been carried out using the prototype in order to examine the torque of the system. The experimental results demonstrates that the designed driving system can provide enough output power and efficiency for utilization in a PADW.