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This paper describes the modeling of driveline systems with electronically controllable torque biasing devices. It focuses on the application of torque distribution for vehicle yaw stability control. Three types of driveline torque bias arrangements as well as the concepts of the yaw moment control with respect to these devices are introduced. To systematically derive the equations of motion of driveline systems, the techniques of Bond Graphs are applied in this paper. The derived driveline model is further integrated into a full vehicle model developed in ADAMS to monitor the vehicle responses with different driveline torque bias strategies. Since the controller is developed in MATLAB and the vehicle model is built in ADAMS, the methodology of co-simulation is applied to communicate the control algorithms with the vehicle model in synchronize time.