This study establishes the feasibility of improving the motion characteristics of commercial vehicles by applying rear axle steering. A model-matching control algorithm for rear axle steering was used to achieve the desired yaw rate response to steering action. Simulations with a two-degree-of-freedom model evaluated the effectiveness of the control method. Results of vehicle tests on an experimental medium-duty truck with rear axle steering proved that this control method can improve vehicle yaw response. However, the simulation results did not well represent the vehicle test results, because the simulation model was too simple. Adding the roll effect to the model reduced the discrepancy between the simulation and vehicle test results.