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This paper presents a novel method for motion control applied to driver stability system of an electric vehicle with independently driven wheels. By formulating the vehicle dynamics using an approximating the tire-force characteristics into piecewise affine functions, the vehicle dynamics cen be described as a linear hybrid dynamical system to design a hybrid model predictive controller. This controller is expected to make the yaw rate follow the reference ensuring the safety of the cardoi:10.2478/jee-2013-0007 fatcat:olshptpgafh5diprtfuqjuo3lq