This project aims to design and develop a vehicle yaw rate control for low-grip applications. A detailed review of the state of the art is carried out, leading to the choice of developing a PI controller and an advanced Non-Linear Model Predictive Control (NMPC). The NMPCs were implemented using the ACADO Toolkit, a C++ software environment and algorithm for automatic control and dynamic optimisation. The NMPC is a model-based control. Exploiting the vehicle model and the implementation of the Pacejka Magic Formula (MF) for tire force generation, it adapts properly to varying road conditions (dry, wet and snow-covered), through the awareness of the road friction coefficient.