The vehicles always undertake different loadings including external disturbances and the design of vehicle control system has model errors. The primary design techniques for 4WS controller are their inability to degrade the performance of closed-loop systems. The design of yaw rate tracking control system architecture by using μ synthesis robust control is presented and the weighting functions are selected. The results show that the control system has fine dynamic characteristic, robust stability and robust performance, and the 4WS vehicle with the proposed control strategy can provide greater maneuverability and driving safety.