This paper presents two lateral control designs for passenger vehicles in the Automated Highway System (AHS). The control designs are a natural combination of input-output linearization technique and the H∞ control design techniques. Input-output linearization in the context of steering angle as the input and lateral error at a certain point on the vehicle as the output is the first design step. Even though this form is amenable to robust control techniques such as the Sliding Mode Control, there is insufficient, damping of the yaw dynamics, especially at high longitudinal velocities. The damping of the yaw dynamics is improved by adding an outer feed back loop based on the H∞ control techniques.