Electronic Stability Control (ESC) is a wheeled vehicle safety system through which active yaw and roll control are realized. ESC is quickly making its way onto tactical wheeled vehicles (TWV) and a source to independently analyze the performance of such systems is becoming increasingly necessary. This paper outlines the efforts of the Army Materiel Systems Analysis Activity (AMSAA) and the Army Research Laboratory (ARL) in the development of a modeling tool capable of replicating typical ESC control systems and algorithms. Created within the MATLAB®/Simulink® environment, the fully-adaptable and reconfigurable tool features corrective yaw control via differential braking and throttle management, along with a detailed braking sub-model capable of capturing brake actuation dynamics. A multi-degree of freedom TruckSim® vehicle model is utilized in conjunction with the tool to accurately model the complexity state and replicate the onboard sensor signals typically available to an ESC controller.