Yaw Control is an interesting topic especially when applied to 4WD electric vehicles. Given the high number of degree of freedom, the torque distribution can be performed according to many ways, both with good engineering practices or with numerical optimization strategies. The need of a validated Yaw Controller for Squadra Corse PoliTo has become important since the level of the competition in Formula Student has increased in the last years. This controller is meant to help the driver both during tight turns, by make the car to rotate faster, and high speed cornering, with a stabilizing effect. To make proper advantage of the Yaw Control, vehicle sideslip angle information should be used as a safety measure.