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This paper describes vehicle stability control (VSC) scheme to prevent rollover and to improve both maneuverability and lateral stability by integrating individual chassis control modules such as electronic stability control (ESC), active front steering (AFS) and continuous damping control (CDC). The proposed VSC system consists of an upper and lower level controller. The upper level controller determines a control mode such as rollover mitigation, maneuverability and lateral stability, and it also calculate desired values for its objectives. The lower level controller determines longitudinal and lateral tire forces as inputs of each control modules such as the ESC and AFS. From the simulation results, it is shown that the proposed VSC system can prevent vehicle rollover, while at the same time improving both maneuverability and lateral stability