Abstract: A compound controller with feed-forward and feedback compensators is presented. The controller improves braking stability by integrated direct yaw-moment control and active front steer control. The front steer angle and external lateral force moment are regarded as input and disturbances, respectively. The feed-forward compensator is designed to decide the control inputs directly by the steer wheel, and feedback compensator combined with disturbance observer is designed to suppress output error caused by external disturbances. The control method is verified by simulation that braking stability is optimized.