The paper presents an advanced yaw stability control (AYSC) system that uses a centralized inertial measurement unit (IMU) to measure the 6 DOF motions of a vehicle and uses the enhanced vehicle states to improve the effectiveness of the traditional electronic stability control (ESC) systems. The MEMS based IMU has nowadays been widely used in consumer electronics, such as smart phones, and its cost has been significantly reduced, which makes it feasible to roll out IMU for ESC type of systems. The additional info from an IMU helps improve the sensing capability of a vehicle, which in turn leads to refined stability control commands for AYSC such that the better control performance than the traditional ESC can be achieved (w.r.t. the real world driving scenarios). Vehicle tests will be used to show the improved control performance.