Abstract: A cascaded two-level lateral trajectory control system and method for a vehicle includes performing trajectory tracking control (TTC) of the vehicle by executing an outer linear quadratic regulator (LQR) control loop to determine both feedback and feedforward control terms and, based thereon, calculate a desired steering angle for the vehicle, executing a sliding mode control (SMC) inner control loop with a dynamic reaching phase gain to determine a desired steering torque to achieve the desired steering angle calculated by the outer LQR control loop, and controlling an electric power steering (EPS) system of the vehicle based on the desired steering torque for improved lateral trajectory control of the vehicle during the TTC, wherein the EPS system is configured to control a steering angle of a pair of wheels of the vehicle and the EPS comprises an electric motor and a systems of gears and linkage.