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Rollover of heavy commercial vehicles is an important safety problem for drivers and all road traffic. There are various methods to stabilize a heavy vehicle. An integrated control system for stability enhancement of articulated vehicles is designed which considers both the yaw and roll moments to improve vehicle stability. The optimal control method is used to determine the corrective yaw and roll moments. Meanwhile, in order to achieve the desired yaw moment, the second-layer controller is used to distribute the braking forces among the wheels. Simulation results justify the benefits of an integrated control system in comparison with individual control systems.