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This paper performs extensive analysis of complete manoeuvres of nonlinear vehicle model developed using Multibody Systems Techniques (MBS). This analysis is aimed at the study of integrated vehicle motion control, the paper discusses the theoretical properties of resulting linearised models which embraces all aspects of vehicle motion (performance, handling and ride). It also addresses the implication of this modelling technique to integrated control systems design. In this sense, it provides an effective link between MBS vehicle models and Control Theory. For this purposes it discusses the influence of the formulation and topology adopted in the MBS model on the resulting State space and Transfer function matrix representations of the system. This discussion includes the effects of the latter on the system structure such as eigenvalues, eigenvectors, and the elements of the A, B, C and D matrices. Also discussed are poles and zeros frequency response and the principal gains.