In this study, a novel controller is proposed to improve vehicle handling safety. The vehicle utilizes from steer by wire technology to actively control both front wheels steering angle independently. This technology can improve vehicle maneuverability and driver comfort. The controller consists of Fuzzy PID controller plus Fuzzy compensator. Dynamic of a nonlinear 8DOF model of a vehicle is derived for Simulation purpose. Desired yaw rate is designed based on steady-state steering on the circular path. The controller feedback from yaw rate error and its time derivative, lateral acceleration, side slip angle and roll angle to improve vehicle handling safety and roll stability. Simulation results show the controller high performance in tracking desired yaw rate and simultaneously preservation of stability. Furthermore, results show amazing robustness of the controller due to model uncertainties such as vehicle longitudinal velocity, mass, location of center of mass, moment of inertia, coefficient of friction and disturbance of braking moment.