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Side-slip angle information is required for stabilizing a vehicle. Conventional stability control methods assume that side-slip angle information can be obtained directly from a sensor. However, this is difficult to do in a normal car because an expensive sensor is needed to realize these methods. In this paper, a strategy for stability control based on the estimated side-slip is proposed. First, a novel linear observer that can make the estimated error small compared with the conventional linear observer is designed. Second, the yaw rate following the controller is constructed. To implement this control system in an actual vehicle system, a steering angle controller is designed. Finally, to confirm the effectiveness of the proposed control system, numerical simulation is implemented with the consideration of a gust of wind and vehicle modeling error. Also, running a vehicle experiment on the road is shown.