The dynamic model of multi-axle steering vehicle is improved by considering the impact of the front-axle mechanical steering on the vehicle steering performance and implying the front-axle wheel angle in control variables to reduce the difficulty of vehicle control. On the basis of modified dynamic model, the multi-axle vehicle is analyzed by combining model-following method with pole assignment process. The transient response and frequency domain characteristics of the yaw angle velocity and sideslip angle at different speeds are obtained. The results indicate that, using model-following method to control vehicle can obtain desired tracking effects. At high speed, the transient response has no overshoot, the response time is shortened, and the stability of vehicle is improved.