Narrow tilting commuter vehicles are expected to be the new generation of city cars, considering their practical dimensions and lower energy consumption. But their dimensions increase their tendency to overturn during cornering, facing lateral acceleration. This problem can be solved by tilting the vehicle in a way that reduces the perceived lateral acceleration at the cabin during cornering, as it is seen on two wheeled vehicles. In literature so far, the corresponding tilting angle is computed, and the control strategy aims at reaching this desired angle. This paper, presents another control approach, achieving a direct control of the perceived acceleration by appropriately tilting the vehicle. The strategy proposed is interesting in that it is both simple to implement, able to take advantage over accelerometer and gyroscope measures, and valid even on roads with non zero banking angle. As the lateral speed is not measured in practice, the paper proposes, for comparison purpose, different (original) ways to get it without deteriorating robustness. Finally, the solution proposed reduces to a robust state feedback controller exploiting all the available measures.