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Lateral control of autonomous vehicle is investigated. The vehicle lateral dynamics is described with the previously researched state space model in terms of position and orientation error with respect to the road, and approximated by a Tanagi-Sugeno (T-S) fuzzy model with time-varying parameters. The system is stabilized by an optimal fuzzy state feedback compensator based on the parallel distributed compensation (PDC) framework. The close-loop stability conditions of the lateral motion system with the fuzzy controller are parameterized in terms of the linear matrix inequality (LMI) problem. A servo compensator is introduced to enhance the tracking ability on curve road. Simulations using the proposed robust fuzzy controller have been carried out for the lateral motion system. The simulation results show that the vehicle with controller can follow the reference lane with good performance and robustness.