Before revision:  Performances of both the longitudinal and lateral controllers are compared with existing control methods and the  results clearly indicate that the proposed control scheme handles the disturbances and parametric uncertainties better, and also provides better tracking performance in autonomous vehicles.
After revision:  Performances of both the longitudinal and lateral controllers are compared with existing control methods and the simulation results clearly indicate that the proposed control scheme handles the disturbances and parametric uncertainties better, and also provides better tracking performance in autonomous vehicles.