This chapter presents a robust nonlinear H∞ Static Output Feedback control (SOF) design for steering control of the autonomous vehicle under actuator saturation, external disturbances, and taking into account the unavailability of the sideslip angle. The Takagi-Sugeno (T-S) approach is used to model both the lateral and lane keeping dynamics of autonomous vehicles. Based on the non-quadratic Lyapunov approach, a static output Feedback controller based on non-compensation parallel distributed technic the H∞ stabilization conditions without saturation are developed. Then, a polytopic representation of the actuator saturation is investigated to express the robust non-qudratiquc stabilisation conditions of Vehicle lateral dynamic control with input constraints in term of LMIs. Finally, the simulation results show that the proposed controllers can stabilize the closed-loop system and present great lane-keeping and external disturbance rejection performances.