The control system detects the rotation rate of each of the vehicle wheels (FR,FL,RR,RL) and estimates the corresponding vehicle velocity for regulation of a braking force applied to each wheel, for maintaining the vehicle stability. A limit value for the difference between the estimated vehicle velocities obtained from the detected wheel rotation rates on either side of the vehicle is calculated using the variation in the friction coefficient for each vehicle wheel and the selected regulation mode for the braking force regulation.
