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This paper presents the advanced control method for the SBW (Steer-by-Wire) system to improve the vehicle maneuverability and stability. In this paper, the steering wheel motor control for improvement of the driver's steering-feel is designed to change the steering-feel according to vehicle velocity and steering angle. The steering wheel motor controller creates approximately same steering-feel of the commercial power steering system and also improves driver's steering-feel as the vehicle state by using steering wheel reactive torque map. In the front wheel motor control algorithm, understeer and oversteer propensity are used as effective factors for controlling the vehicle's maneuverability and stability. As a result, vehicle yaw rate and lateral acceleration could be controlled.