  In this study, we detail the procedures for designing gain scheduling
controllers by Linear Quadratic $H_\infty$ robust optimization methods in
Linear Matrix Inequalities (LMI) framework. The controllers are aimed at
steering control of the autonomous vehicles. We first construct the Linear
Parameter Varying (LPV) vehicle models and synthesize the robust controllers
with uncertainty and nominal plants. We choose static output and state feedback
controller structure to avoid higher order controllers considering
implementation issues. The robust control problems are solved by using
different LMI formulations and optimization weights with and without eigenvalue
location constraints. The results are compared.
