Reduced-order modeling techniques (ROM) are applied to eliminate the components or modes that have little or almost no impact on the system's output. Thus creating a reduced-order system with nearly the exact behavior, but less complex and faster to undergo simulation or to operate in real-time. In this thesis, test vehicle data logs were analyzed to obtain insights, find optimal parameters, and match the Simulink vehicle model parameters to the actual test vehicle. Afterward, a longitudinal slip-based Anti-lock Brake System (ABS) is built and integrated with an Electronic Stability Control (ESC) through Direct Yaw Moment (DYM), which is realized via the Sliding Mode Control (SMC)technique.