Yaw moment Lyapunov based control for In-Wheel-Motor-Drive Electric Vehicle * *This work was carried out and funded in the framework of the Labex MS2T. It was supported by the French Government, through the program ”Investments for the future” managed by the National Agency for Research (Reference ANR-11-IDEX-0004-02). This work was also carried out in the framework of the French ”Hauts-de-France” region project SYSCOVI. SYSCOVI is jointly financed by the European Union. Europe engages in Picardie with the European Fund of Regional Development FEDER.