Path tracking control systems are vital for autonomous vehicles as they are responsible for the precise tracking of the trajectory decided by planning modules. However, the control of the later vehicle dynamics is challenging because of (i) the coupling between the longitudinal vehicle dynamics and the lateral dynamics (ii) tire nonlinearities and (iii) parameter uncertainties, such as the road friction coefficient, and the dependency of the system model from the longitudinal vehicle speed. From a control perspective, the control objective is to steer to zero the lateral position error of the vehicle with respect to the desired path while maintaining vehicle yaw stability.