Embodiments herein disclose a method and system for implementing a Yaw rate controller in motor vehicles. In the present braking systems associated with motor vehicles, the wheel speed and braking force are not linearly related. This result in jerks which affects comfort of the passengers and stability of the vehicle which inturn arise safety issues. In the disclosed system, the Yaw rate controller measures the vehicle speed and provides a control error rate (Yaw rate) corresponding to the measured speed in order to assure that the braking force and the wheel speed at the time of braking is linearly related. It further insures safety, comfort and stability for the vehicles.