A foldable tensegrity-membrane system is designed and studied. This novel flexible multibody system， composed of bars， tendons， and membranes， is capable of system folding and deployment. Bars provide sufficient system stiffness， and tendon force control technique can be used to achieve system shape control. Membrane folding techniques can reduce folded system shapes. A nonlinear finite element model is developed to study system dynamics， and geometric and material nonlinearities are considered in the model. A combined control strategy based on quasi-static control and H_∞ control is designed to achieve system deployment. Simulation results indicate that the proposed control strategy is capable of controlling system dynamics when system prestressing configuration transitions occur during system deployment and the system can be rapidly stabilized to alleviate system vibrations at the final deployed shape.