The use of classic and modern linear control tools (root locus and output regulation) is presented to determine the parameters of controllers used to follow a pre-defined closed path, in a way to approach the vehicle behavior and human actions when driving a car. The car is represented by linear models (transfer functions, state-space matrix), but the relation between the car and the closed path is non linear. It is verified how the project of a linear controller deals with the non linear characteristics of the closed loop. The concepts and tools of linear control are applied to some kinds of paths in different vehicle conditions (speed, steering angle limits, etc), and the results of simulations show the characteristics of the car, like accelerations, stability and position on the track. It`s also presented a little introduction to the problem of determine an optimal trajectory to run a corner, given the initial and final velocities and initial and final positions. In this case a very simple model is considered and the solution is based on open paths analysis.