This site has an hour with a Mazda Engineer explaining the new G-Vectoring introduced on the 3 in Japan, soon on the 2017 6 in US and planned for all Skyactiv vehicles. http://insidemazda.mazdausa.com/newsroom/g-vectoring-control/
That Mazda 6 station wagon in the 3rd video is the car I'd rather have than my CX-5.
The first video presents an interesting discussion. Minor torque reduction is certainly more effective than trying to shift the load with the braking system. I wonder if a similar solution could be accomplished with minor ratio changes in a cvt. I also wonder if the gvc system will be more effective with an fwv than with an awd vehicle.
My first fwv car was a 1970 Saab 99. incipient understeer was handled by backing off the throttle. The front end would then tuck right into the turn.