This study investigates the robust non-fragile controller design for vehicle lateral stability, with considering the uncertainties of tire cornering stiffness and actuator saturation. The vehicle longitudinal velocity is assumed to be time varying and the velocity-dependent parameters are described within a trapezoid polytope. The norm-bounded perturbation of controller gain is taken into account which is more practical. By solving the linear matrix inequalities, the non-fragile linear parameter-varying controller is obtained to satisfy the mixed H and GH performance of the vehicle dynamics system. With the designed controller, the sideslip angle and yaw rate of vehicle are restricted effectively to guarantee the lateral stability and handling performance. Two simulations are carried out to validate the effectiveness of the designed controller.