Rate control has been regarded as an indispensable video coding tool for virtually any application involving video transmission. With the advent of many flexible tools introduced in the current state-of-the-art High Efficiency Video Coding (HEVC) standard, previous Rate-Distortion (RD) models used for rate control become insufficiently accurate. To overcome this issue, a new RD model has been recently proposed based on a robust correspondence between the rate and Lagrange multiplier λ. However, existing methods based on this model tend to perform sub-optimally after the scene change. In this paper, a two-pass rate control method is proposed, targeting Ultra High Definition Television (UHDTV) applications. In the first pass, a fast encoder with a reduced set of coding tools is used to obtain the data used for rate allocation and model parameter initialisation utilised during the second pass. Multiple encoding steps required to derive this information are avoided with the proposed variable quantization parameter framework. Experimental evaluation showed that the proposed two-pass rate control method achieves on average 4.4% BD-rate loss, compared with variable bit-rate encoding. That significantly outperforms the state-of-the-art HEVC rate control method with an average BD-rate loss of 8.8%.