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Modern software tools have enhanced modelling, analysis and simulation capabilities pertaining to control of dynamic systems. In this regard, in this paper a full vehicle model with flexible body is exposed by using MSC. ADAMS and MSC. NASTRAN. Indeed, one of the most significant vehicle dynamic controls is directional stability control. In this case, the vehicle dynamic control system (VDC) is used to improving the vehicle lateral and yaw motions in critical manoeuvres. In this paper, for design the VDC system, an optimal control strategy has been used for tracking the intended path with optimal energy. For better performance of VDC system, an anti-lock brake system (ABS) is designed as a lower layer of the control system for maintaining the tyre longitudinal slip in proper value. The performances of the controller on rigid and flexible models are illustrated, and the results show the differences between the control efforts for these models, which are related to the differences of dynamic behaviours of rigid and flexible vehicle dynamic models. [ABSTRACT FROM AUTHOR]