A differential braking control strategy using yaw rate feedback, coupled with feedforward is introduced for a vehicle cornering on different roads. A nonlinear 4-wheel car model is developed. A desired yaw rate is calculated from the reference model based on the driver steering input. It is shown that knowledge of offers significant improvement of the vehicle desired trajectory over that of a yaw rate controller alone. Uncertainties and time delay in estimating are shown to still yield a system that is superior to using no information at all.