This paper deals with the active control in vehicle to improve the safety and its stability. Vehicle model based on roll, yaw and lateral dynamics is used. The vehicle dynamics is represented by a LPV (Linear Parameter Varying) and the corresponding state-space model is affected by both polytopic and norm-bounded uncertainties. It is aimed to compute K, associated with the static output feedback, so as to place the set of all eigenvalues of the uncertain closed-loop state matrix Acl in a clustering region, denoted by D, while minimizing the effect of the disturbances on the system and ensuring the D-stability of Acl. This paper proposes an original technique, based on the resolution of ℒMI, to compute K. In order to highlight the performance of the proposed control algorithm, numerical simulations are performed.