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Full states (i.e. slip angle and yaw rate) feedback control strategy was researched and feedback coefficients of slip angle and yaw rate were acquired according to the concepts of virtual front tire cornering stiffness coefficient. Slip angle was estimated with Kalman filter. Effects of virtual front tire cornering stiffness coefficient changing coefficient on poles and frequency characteristics have been researched. Simulations showed that virtual front tire cornering stiffness coefficient changing coefficients could be chosen based on velocities to change steering characteristics: positive coefficient at low velocities leading to oversteer and steering agile; while negative coefficient at high velocities leading to understeer and steering stable. So presented control strategy improved handling and stabilities.