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Considering the uncertain characteristic of the tire cornering stiffness, a linear parametric uncertainty vehicle model was developed for designing the controller. An optimal guaranteed cost control scheme was proposed on the basis of an analysis of the existing strategies for vehicle handling and stability control. An optimal guaranteed cost controller for the vehicle stability was developed based on model-following technique and the vehicle model with parametric uncertainties. Some simulations have been carried out, and the result demonstrated that the optimal guaranteed cost control scheme could not only keep the system stable but also obtain a much smaller slip angle and have much better yaw rate response.