In this paper, four-wheel steering and direct yaw-moment integrated controller is designed. To verify the effectiveness of the integrated controller, a nonlinear three-degree-of-freedom model is employed for computer simulation. Considering the nonlinear effects of tyre, Pacejka tyre model was adopted to set up the nonlinear vehicle dynamic model. The direct yaw-moment controller was designed based on optimal control theory. Simulation on the nonlinear vehicle with integrated controller in Matlab/Simulink software environment was described. The simulations suggest, compared with FWS and 4WS, the integrated controller can make the handling and stability performance on big lateral acceleration and slip angle improved, and make the driver drive the vehicle normally. The conclusion can be useful for the system design of vehicle stability control system.