Abstract-Active rear wheel steering can be applied to improve vehicle yaw dynamics. In this paper two possible control algorithms are discussed. The first method is a yaw rate feedback controller with a reference model, which has been reported in a similar form previously in literature. The second controller is a feedforward controller, which only requires the front wheel steering angle and vehicle forward velocity. It has a similar performance as the feedback controller. Both controllers are evaluated using an enhanced bicycle model, which includes tyre relaxation behaviour and suspension steering compliance.

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