The present invention involves a method of controlling a vehicle steer-by-wire system having two independent road wheels. In one embodiment, the method comprises providing a steering wheel control sub-system to generate road wheel reference angles and to produce steering feel for a vehicle driver. The method further includes providing a road wheel control subsystem with servo control structure having road wheel angles and angular rates feedbacks including a road wheel controlled plant and a road wheel controller for controlling actual road wheel angles to track to road wheel reference angles. Moreover, a robust control is implemented in the road wheel controller to overcome affects of uncertainties and disturbances from the steer-by-wire system, vehicle, and external environment.