This paper presents a robust nonlinear H ∞ Static Output Feedback control (SOF) design for steering control of the autonomous vehicle with input constraint, external disturbances, and the unavailability of the sideslip angle. To deal with the actuator saturation, a polytopic representation has been used. Then, based on a Takagi-Sugeno (T-S) model of the vehicle lateral dynamics in its discrete-time form and using a non-quadratic fuzzy Lyapunov function, stabilization conditions have been derived in terms of Linear Matrix Inequalities (LMIs). Finally, the robustness and the advantages of the proposed approach are demonstrated through different tests.