This investigation proposes two stability and lane-keeping unmanned control structures (UCS) i.e. UCS I a nd UCS II in front-wheel-steered (FWS) vehicles. This work achieves the following objectives 1) accurate steering of w heels accurately minimizing system errors of the lateral position, the handling angle and the yaw rate and 2) maintainin g a smooth ride quality with different forward velocities and loads. Each of the two steered systems has a control trackin g the desired course: a double lane change maneuver (DLCM). The designed controller based on the H∞ algorithm, th e linear matrix inequality (LMI) technique, is developed and applied. It is found that each steering structure has a robust controller which is capable of keeping the vehicles in the designated lane. For safety and improved car handling, FWS vehicles require a structure to monitor either the lateral displacement (y L) together with a handling angle signal (φ) for UCS I or a lateral displacement (yL ) and a yaw rate signal (γ) for UCS II, as evidenced by the theoretical analysis and also employ a look-ahead formulated controller. Numerical simulation conforms that good vehicle performance is achie ved using the controller.