This chapter revisits the fundamental techniques for analyzing and designing control algorithms used in vehicle automation. This chapter is intended for introductory-level graduate students and practitioners seeking to learn control algorithms using vehicle motion problems as motivational examples. In the first part of the chapter, we review stability and robustness analysis methods, such as Lyapunov stability, linearization, and Laplace transform analysis, and illustrate their application to longitudinal and lateral vehicle motion problems. In the second part, we focus on the design of linear and nonlinear control algorithms, including PID controllers, feedback linearization, and sliding mode controllers. In the third part, we introduce optimal control strategies to deal with input and actuator constraints and optimize performance metrics.