A brake system control method, comprising the steps of: measuring a
longitudinal speed and steering angle of the vehicle; specifying an
un-damped natural frequency and a damping ratio for a linear reference
model of said vehicle; determining a first gain parameter relating a
desired value of steady state lateral velocity to the vehicle steering
angle; computing a desired lateral velocity as a function of said first
gain parameter, the measured longitudinal speed, the measured steering
angle, and the specified un-damped natural frequency and damping ratio;
determining a second gain parameter relating a desired value of steady
state yaw rate to the vehicle steering angle; computing a desired yaw rate
as a function of said second gain parameter, the measured longitudinal
speed and steering angle, and the specified un-damped natural frequency
and damping ratio; measuring a lateral acceleration and yaw rate of said
vehicle, and forming a yaw rate command for said vehicle based at least
part in a first deviation between said desired and measured yaw rates, and
a second deviation between said measured lateral acceleration and a
desired lateral acceleration based on said desired lateral velocity; and
differentially braking wheels of said vehicle to impart a yaw moment
corresponding to said yaw rate command.