A robust controller design method for vehicle roll control with variable speed and actuator delay is presented. Based on a three-degree-of-freedom (3DOF) yaw-roll model, the H∞ performance from the steering input to the vehicle body roll angle is considered. The design approach is formulated in terms of the feasibility of delay-dependent matrix inequalities. By combining the random search of genetic algorithms (GAs) and the efficient solution of linear matrix inequalities (LMIs), the state feedback controllers can be obtained. The approach is validated by simulations showing that the designed controllers can achieve good performance in roll control. Copyright © 2007 SAE International.