In this paper a comparison matrix is developed in order to examine three tyre models through nine criteria. These criteria are obtained after the requirements study of the main vehicle-dynamics mechatronic applications, such as ABS, ESP, TCS and EPAS. The present study proposes a weight for each criterion related to its importance to the mentioned applications. These weights are obtained by taking into account both practical and theoretical judgement. The former was collected through experts‟ opinion and the latter from publications. In this study an overview of tyre-models categories has been done. Pacejka‟s Magic Formula, TMeasy and the LuGre tyre model have been analysed in more detail and the steady-state tyre characteristics implemented through Matlab. Subsequently, the fulfilment process of the matrix has been carried out taking into account the information from tyre-model papers and the results obtained from the model comparison. By using the procedures mentioned, the LuGre tyre model has been chosen as the best one for mechatronic applications for vehicle-dynamics control systems. Finally, further improvement works are recommended.