An integrated control system of active rear wheel steering and yaw moment control using braking forces is presented in this paper.Due to the tire nonlinearity that is mainly due to the saturation of cornering forces, the improvement of vehicle handling and stability is limited to a certain extent when using only rear wheel steering control.Yaw moment control using braking forces is effective not only in linear but also nonlinear ranges of the tire friction circle.Considering the tire friction circle, the control system is designed using model matching control theory to make the vehicle performance follow a desired dynamic model even during large decelerations or lateral accelerations.Various computer simulations in severe driving conditions were carried out and verified that vehicle handling and stability are much improved by the integrated control system.