In this paper incremental nonlinear dynamic inversion, a sensor based approximate form of feedback linearization with favorable robustness properties, is applied to the traction control and stability augmentation problem of a Le Mans Prototype 1 race car. A cascaded side-slip and yaw-rate envelope protection system is developed in combination with a model following yaw-rate controller which acts inside the safe envelope. The vehicle is controlled through two limited slip differentials featured in the front and rear of the vehicle. A method is presented to account for load tranfer effects in the calculation of the limited control effectiveness associated the actuators . Simulations with a high-fidelity vehicle model demonstrate that the control system is robust against parameter uncertainties and is able to effectively keep the vehicle within the bounds of the safe envelope. ... Read more