The wind gust disturbance introduces a steady$-$state error that must be addressed in the control

system design. To understand its impact, note that the steering input generates a lateral force to

control the vehicle's motion. However, the wind gust disturbance opposes this motion by causing

lateral acceleration that counteracts the steering input, effectively reducing its effectiveness. This

interaction highlights the need for a control system capable of compensating for such

disturbances to maintain accurate and stable vehicle behavior.

The specifications of the control system design are:

$1.$ Safety: The closed loop system must have less than $8\%$ overshoot in the unit

step response.

$2.$ Passenger comfort: The maximum steering input must be less than $5$ degrees.

$3.$ Disturbance rejection: The steady$-$state error for a unit disturbance must

be minimized.