In this paper, improvement of the lateral dynamics performance of a three-wheeled vehicle using a robust active control system has been considered. In the proposed control system, the differential braking has been utilized to control the state variables and tracking of their desired values. First, a through twelve-degrees-of-freedom for dynamic simulation of the three-wheeled vehicle has been developed and the proposed dynamic model has been validated utilizing CarSim software during a maneuver. Then, a two-degrees-of-freedom was applied for designing of control system. The yaw rate and the lateral velocity were considered as state variables to track their desired values. Then, the performance of the dynamic model was compared for controlled and uncontrolled conditions. The simulation results showed that for the uncontrolled vehicle yaw instability occurred and deviated from desired path. For controlled condition, active braking system keeps vehicle on the desired path by tracking the desired value of the state variables.