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This paper deals with steering control problem of a computer simulated model car with fuzzy control approach. For simulating the real environment, the stochastic behavior of system is considered as multiplicative noise term. In addition, the external disturbance effect on system is also discussed for achieving attenuation performance by applying passivity theory. Through using the Takagi-Sugeno (T-S) fuzzy model approach, the stability problems of nonlinear system can be solved by linear control theory. Furthermore, the stability condition is derived by passivity theory and Lyapunov function for guaranteeing stability in sense of mean square. Besides, the fuzzy controller is carried out by concept of Parallel Distribution Compensator (PDC). Finally, the simulation results are proposed to show that the strictly input passivity and mean square stability of system can be achieved via the designed fuzzy controller.