A method of controlling vehicle stability includes the steps of obtaining a measured yaw rate from the vehicle, generating a predicted yaw rate based on the measured yaw rate, calculating a first error signal based on a difference between the measured yaw rate and a desired yaw rate, calculating a second error signal based on a difference between the predicted yaw rate and the desired yaw rate, and sending a selected one of the first and second error signals to a yaw controller to conduct stability control. The predicted yaw rate can be generated by sending the measured yaw rate through a lead filter.