Four-wheel car steering is modeled by a single-track model with nonlinear tire characteristics. A generic control law for robust decoupling of lateral and yaw motion by yaw-rate feedback to front-wheel steering is derived. Ideal steering dynamics are achieved by velocity-scheduled lateral acceleration feedback to front-wheel steering. For robust yaw stabilization a velocity-scheduled yaw-rate feedback to rear-wheel steering is given, by which the linearized system gets velocity-independent yaw eigenvalues.