  This paper proposes a feedback linearizing law for single-track dynamic
models, allowing the design of a trajectory tracking controller exploiting
linear control theory. The main characteristics of this algorithm are its
simplicity, its independence from any vehicle model parameter, apart from the
position of the center of mass, and its robustness. In particular, a numerical
bifurcation analysis demonstrates that, for physically meaningful values of the
center of mass deviation, the equilibrium is structurally asymptotically
stable. Experimental results, concerning the linearising law and its
application as inner loop of a trajectory tracking controller, are also
presented, confirming the effectiveness of the proposal.
