First the effectiveness of command steering of trailers in reducing off-tracking during a 90° turn for a truck with three trailers is examined. In command steering, front trailer axles are steered proportionately to the articulation angles between the tractor and corresponding trailers. Then, based on insights gained, the approach of an optimal linear quadratic regulator (LQR) controller to minimize off-tracking indirectly, by minimizing rearward amplification, is used. The simulation results demonstrate that command steering is very effective only for low speeds, although it also reduces the turn radius during a 90° turn. Command-steering-based LQR control is, however, very effective for all speeds.