In this paper, we focused on the yaw motion dynamics for light electric vehicles. The objective is to track the yaw rate reference in order to enhance lateral stability. Two controllers were designed, a simple PID controller and a third generation CRONE controller. The design methodology considers the total mass of the vehicle, the longitudinal speed, and the road adhesion as uncertain parameters. Later, we analyze the effect of vertical dynamics, on a controlled full vehicle system, where the variation of the normal wheel-contact forces was taken into consideration. A double lane change maneuver is simulated, and the results show the robustness of the CRONE controller against the uncertain parameters and its effectiveness to lessens the influence of load transfer variations.