System and method for vehicle motion control

The present invention relates to a system for vehicle motion control () of a vehicle with at least a steering system and one or more of a brake system () and a torque vectoring system, a number of sensors () for sensing at least vehicle speed or wheel speed, yaw rate and wheel angle, said vehicle motion control system comprising a Yaw Stability Control (YSC) functionality comprising an oversteer control function, wherein the YSC function is arranged to be fail-operational.