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The uncertain model of the vehicle including roll and wheel rotation was established. By actively controlling the steering system angle and independently controlling the wheel brake torque, the integrated control design was carried out by using H2/H∞ mixed robust control theory based on LMI method and was compared with H2 control and H∞ control. The simulation results indicated that the H2/H∞ mixed robust control not only had robust stability to the system uncertainty, but also effectively curbed external disturbance and improved the system dynamic performance well.