An AFS control system that combines and weights yaw rate feedback and side-slip rate feedback to provide increased vehicle stability enhancement control. The AFS system includes a yaw rate sub-system that generates a desired yaw rate signal. The AFS system also includes a side-slip rate sub-system that generates a desired side-slip rate feedback signal. The AFS system further includes a side-slip rate feedback sub-system that generates a side-slip rate feedback signal. The AFS system also includes a yaw rate feedback sub-system that generates a yaw rate feedback signal. The yaw rate feedback signal and the side-slip rate feedback signal are integrated in a control integration sub-system that generates a stability enhancement control signal. The control integration sub-system determines whether the vehicle is in an oversteer or understeer condition, and weights the desired yaw rate feedback signal accordingly based on the vehicle condition.