I. Introduction
Road safety has been an international stake over the past few decades. In particular, enhancing driving characteristics by ensuring stability in critical situations (i.e., safer vehicles) has been recently the main issue for both academic and industrial communities. A new trend is to develop multivariable vehicle dynamic control (VDC) strategies involving several actuators that collaborate to enhance the vehicle dynamics. Such a multiple-input–multiple-output controller allows to adapt the vehicle behavior to the driving situations. This paper focuses on improving both comfort and safety by coordinating the use of the braking, steering, and semi-active suspension subsystems.