In this chapter, we develop a robust state feedback control scheme based on a Zonotopic Kalman Filter (ZKF) for Linear Parameter Varying (LPV) systems subject to disturbances and measurement noises, not yet considered in the literature. For this purpose, first, a ZKF with offline filter gains design is proposed so that the system states can be obtained. Then, a Linear Quadratic Zonotopic (LQZ) control is proposed to tackle the synthesis of the ZKF and the state feedback controller. The LQZ control scheme is performed by means of zonotopes to find the set of gains that are robust against uncertainties and that satisfy predefined performances. Based on the separation principle, the computation of the optimal controller and estimator are done separately by finding the solutions to a finite number of Linear Matrix Inequalities (LMIs). At last, a reference path tracking controller of the vehicle lateral dynamics is designed to demonstrate the validity and performance of the proposed method.