This paper deals with vehicle longitudinal control performed by a cruise control (CC) system using the CRONE approach. A comparison between this approach, a classical proportional–integral (PI) controller, and an H-infini (Hinf) controller is presented. Simulations with these controllers are performed considering a complex vehicle model obtained from simulator software taking mass uncertainties, aerodynamic drag, gravity, and wind forces into account. This model also accounts for wheel dynamics with tire–road interactions that allow the analysis of the adherence effect. Results show better robustness to uncertainties with the second-generation CRONE controller, as already demonstrated with the CRONE suspension system and the CRONE ABS system.