This paper presents a new yaw stability controller for a rear double-driven electric vehicle. A linear parameter varying (LPV) model of the vehicle is formulated using longitudinal speed measurement and tire cornering stiffness estimation. The LPV model is then utilized to design a gain-scheduled H∞ controller with guaranteed stability. Results from simulations, performed with CarSim, show that the new controller improves the vehicle performance and handling even in extreme maneuvers and that it is robust to model parameter uncertainties.