PURPOSE: To prevent erroneous control due to noise from occurring by eliminating a high frequency noise among noises to be included in a signal out of a sensor available in yaw rate feedback control, with an LPF, while removing a low frequency noise by means of a dead zone at a control law, respectively.

CONSTITUTION: At a torque distribution controller of a 4WD car, a throttle motor 27 is controlled by an engine controller 28 on the basis of an accelerator signal out of an accelerator sensor 29 and according to a control signal out of a torque distribution controller 30 which inputs each output signal out of each of main sensors 31 to 39 detecting those of steering angle, lateral acceleration, and yaw rate, etc. In addition, it outputs a feedback control signal according to a deviation between a target yaw rate to be set on the basis of a two- wheel model and the actual yaw rate, but at this time, a high frequency noise is removed from the sensor signal by an LPF, while a low frequency noise is eliminated by a dead zone to be set by a control law used with the sensor signal.