A Review of Active Yaw Control System for Vehicle Handling and Stability Enhancement

Table 1

Number DOF of nonlinear vehicle models.

Number of; DOF	Dynamic motions	Output variable
7 DOF	(i) Longitudinal	Yaw rate & Sideslip
	(ii) Lateral
	(iii) Vertical
	(iv) Rotational of 4 wheels
8 DOF	(i) Longitudinal	Yaw rate, roll rate, and sideslip
	(ii) Lateral
	(iii) Vertical
	(iv) Roll
	(v) Rotational of 4 wheels
14 DOF	(i) Longitudinal	Yaw rate, roll rate, pitch rate, and sideslip
	(ii) Lateral
	(iii) Vertical
	(iv) Roll
	(v) Pitch
	(vi) Bounce
	(vii) Rotational of 4 wheels
	(viii) Vertical oscillations of 4 wheels