A yaw stability control system is based on a linearized vehicle model and a predictive
control algorithm. The control algorithm compares the vehicle yaw rate, from, for
example, a production grade yaw rate sensor, with a desired yaw rate, which may
be computed based on the vehicle speed and the steering wheel angle. If the yaw
rate error, defined as the difference between the desired and measured yaw rates,
exceeds a certain threshold, a controlling yaw moment is calculated based on the
predictive control algorithm. This controlling yaw moment, or yaw torque, command
is then translated into one or more actuator commands. For example, the control
yaw moment may be produced by braking one or more of the vehicle's wheels.
