In the past decades, the stability of vehicles has been improved significantly by use of variety of chassis control systems such as Antilock Braking System (ABS), Electric Stability Program (ESP) and Active Front Steering (AFS). Recently, in order to further improve the performance of vehicles, more and more researches are focused on the integration control of multiple degrees of freedom of vehicle dynamic. However, in order to control multiple degrees of freedom simultaneously, the nonlinear problems caused by the coupling between different degrees of freedom have to be solved, which is always a difficult task.In this paper, a three-degrees-of-freedom single track vehicle model, in which some nonlinear terms are considered, is built firstly. Then, the nonlinear model is processed by the fuzzy technique and the T-S fuzzy model is designed. Based on this, a feedback controller of Parallel Distributed Compensation (PDC) framework is employed, and the controller shares the same fuzzy sets with the T-S fuzzy model. The pole placement and Linear Matrix Inequality (LMI) techniques are utilized to solve the feedback gains for the PDC controller to ensure the performance of the closed-loop control system. Finally, the proposed algorithm is modelled and simulated by Matlab/Simulink. The results show that satisfactory performance of the vehicle planar stability can be achieved.