This paper is concerned with the synthesis of a robust gain-scheduled H1 MIMO VDSC (Vehicle Dynamic Stability Controller), involving the steering and braking actuators. This VDSC aims at improving automotive vehicle yaw stability and lateral performances. The contribution of this work is to provide a methodology to synthesize such a controller while taking into account the braking actuator limitations (i.e. the actuator can only brake the rear wheels) and use the steering actuator only if it is necessary (e.g. if the braking system is not ecient enough to ensure vehicle stability, or in case of braking system failure). These objectives are treated in an original way by the synthesis of a parameter dependent controller built in the LPV framework and by the solution of an LMI problem. The proposed solution is coupled with a local ABS strategy to guarantee slip stability and make the solution complete for implementation issues. Nonlinear time and frequency domain simulations on a complex full vehicle model ( which has been validated on a real car), subject to critical driving situations, shows the eciency and robustness of the proposed solution.