A method for driving dynamics control for a transportation vehicle, wherein a manipulated variable of the driving dynamics is controlled by a control circuit having two degrees of freedom, consisting of a pilot control and a controller, to drive through a planned trajectory, wherein the control circuit has an iteratively learning controller which cyclically repeats classifying the planned trajectory by a classification device, retrieving a manipulated variable profile for the iteratively learning controller from a database based on the classification, recording a control fault of the control circuit and/or a manipulated variable of the controller when driving through the planned trajectory by a memory, and adapting the manipulated variable profile of the iteratively learning controller based on the recorded control fault and/or the recorded manipulated variable of the controller. Also disclosed is an associated device.