A method of controlling a vehicle braking system, the method comprising: applying a braking force to a vehicle by applying a regenerative braking force to wheels of a first axle of the vehicle and applying a friction braking force to wheels of a second axle of the vehicle; determining, by an electronic processor , a set of actual side-slip angles for the vehicle, the set of actual side-slip angles including a first axle side-slip angle for the wheels of the first axle and a second axle side-slip angle for the wheels of the second axle wherein determining the set of actual side-slip angles includes receiving, by the electronic processor , a first signal from a first side-slip angle sensor indicative of the first side-slip angle of the wheels of the first axle and a second signal from a second side-slip angle sensor indicative of the second side-slip angle of the wheels of the second axle; determining, by the electronic processor , a set of estimated side-slip angles for the vehicle, the set of estimated side-slip angles including an estimated first axle side-slip angle for the wheels of the first axle and an estimate second axle side-slip angle for the wheels of the second axle, the set of estimated side-slip angles being indicative of side-slip angles for the vehicle estimated to occur under current driving conditions if the braking force were applied to the vehicle using only friction braking; determining a compensatory yaw moment for the vehicle based on a difference between the set of actual side-slip angles and the set of estimated side-slip angles; and applying the compensatory yaw moment to the vehicle to cause the set of actual side-slip angles to approach the set of estimated side-slip angles. applying a braking force to a vehicle by applying a regenerative braking force to wheels of a first axle of the vehicle and applying a friction braking force to wheels of a second axle of the vehicle; determining, by an electronic processor , a set of actual side-slip angles for the vehicle, the set of actual side-slip angles including a first axle side-slip angle for the wheels of the first axle and a second axle side-slip angle for the wheels of the second axle wherein determining the set of actual side-slip angles includes receiving, by the electronic processor , a first signal from a first side-slip angle sensor indicative of the first side-slip angle of the wheels of the first axle and a second signal from a second side-slip angle sensor indicative of the second side-slip angle of the wheels of the second axle; determining, by the electronic processor , a set of estimated side-slip angles for the vehicle, the set of estimated side-slip angles including an estimated first axle side-slip angle for the wheels of the first axle and an estimate second axle side-slip angle for the wheels of the second axle, the set of estimated side-slip angles being indicative of side-slip angles for the vehicle estimated to occur under current driving conditions if the braking force were applied to the vehicle using only friction braking; determining a compensatory yaw moment for the vehicle based on a difference between the set of actual side-slip angles and the set of estimated side-slip angles; and applying the compensatory yaw moment to the vehicle to cause the set of actual side-slip angles to approach the set of estimated side-slip angles. <EOS>