Based on the fuzzy control technology,the feedback control method of synthesized yaw rate and side slip angle is presented for the ESP system.The influence of nonlinear characteristics of tires on cornering characteristics and driving stability of vehicle is considered.The nonlinear tire model(Magic Formula) is adopted,and the four-wheel vehicle model with two degrees of freedom and a vehicle reference model are set up on this basis.Then the fuzzy controller of yaw rate and the fuzzy controller of side slip angle are designed and a simulation model generated by Simulink software is used.Simulation results show that the lateral stability of vehicle can be enhanced by controlling yaw rate and side slip angle with the synthesized feedback control method.