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This paper deals with stability of motion and its criteria for tracking control of intelligent vehicle systems. It deals with general control structure and specification of an optimum range of predefined control parameters for accurate tracking of these vehicle systems. A two degree of freedom (DOF) nonlinear dynamic model is developed to represent their plane motion. This model is further utilized in deriving a linear model that is used to do this stability analysis. Path tracking of the vehicle is attained by controlling the position and orientation errors about a predefined trajectory, which is accomplished by modifying the steering input signal on the basis of error feedbacks to the controller.