Implementation of active front steering (AFS) and direct yaw moment control (DYC). Consider the linear system of vehicle lateral dynamics, apply AFS and DYC utilizing the linear control design to achieve tracking performance, respectively. The reference/ideal model could be selected from one set of vehicle parameters in CarSim with a single lane change steering angle input(δ). The real/practical model could be with different vehicle mass (80% of m in the reference model), yaw rotational inertia( 90% of I.), or cornering stiffness (70% of Caf and Car) due to different road surfaces Clearly state the applied or selected model uncertainties, design the AFS and DYC control laws, and show the Matlab/Simulink simulation plots to explain how the tracking is achieved. mV2