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Power hardware-in-the-loop (PHIL) testing has become indispensable for the rapid, modular, and cost-saving development of automotive components. This article focuses on PHIL tests composed of entire powertrains that exchange speed and torque signals with vehicle simulations. Previous studies pointed out the importance of promptly following the references from the virtual simulation environment to replicate realistic driving conditions and introduced control strategies to cope with the challenges associated with this setup. However, a comprehensive comparison of the different control strategies has not yet been carried out. To fill this gap, the concepts are first investigated in-depth in simulations and are then, rigorously validated on a state-of-the-art powertrain test bed under highly dynamic driving scenarios, including full-braking. Furthermore, an improvement of existing shaft torque control approaches, which are mainly based on feedforward control, is proposed to better compete with the other methods. The proposed extension shows higher resilience to low accuracy of torque actuators, while the other concepts exhibit greater robustness against time delays. The results from the direct comparisons are summarized and allow the appropriate selection of control strategies for specific use cases.