where ?? is a yaw rate (variable), ?? is a slip angle of the vehicle (variable), m is a vehicle mass, V is a vehicle speed, Cf, Cr is a cornering force of the front and rear wheels respectively, I is a yaw moment of inertia, Lf, Lr is a distance between the center of gravity and an axis of the front and rear wheels respectively, M is a moment by the rear differential limiting torque.