A technique for determining a slip angle of a motor vehicle, while compensating for bank angle of the motor vehicle, includes a number of steps. Initially, a first lateral velocity of a motor vehicle is determined, without consideration of a bank angle and is derived from an integral of a first lateral velocity derivative (vy dot). A second lateral velocity of the motor vehicle is also determined, with consideration of the bank angle and is derived from an integral of a second lateral velocity derivative. A third lateral velocity of the motor vehicle is also determined, with consideration of the bank angle and the first and second lateral velocities and is derived from an integral of a third lateral velocity derivative. A longitudinal velocity of the motor vehicle is also determined. A slip angle of the motor vehicle is then determined, based upon the third lateral velocity and the longitudinal velocity or the first lateral velocity and the longitudinal velocity.