Cars and trucks are susceptible to accidents due to rollover. In the United States in 2005, 21.1 of a total of 54,718 deaths in vehicle crashes were caused by rollover [1]. Significant research has therefore been devoted to detecting and preventing rollover through active control. Numerous approaches attempt to detect or predict wheel liftoff using onboard sensing and a combination of automatic steering and braking to keep the wheels on the ground [2][4]. © 2006 IEEE.