%0 Journal Article %A M. Almeshal and M. O. Tokhi and K. M. Goher %D 2012 %J International Journal of Mechanical and Mechatronics Engineering %B World Academy of Science, Engineering and Technology %I Open Science Index 70, 2012 %T Stabilization of a New Configurable Two- Wheeled Machine Using a PD-PID and a Hybrid FL Control Strategies: A Comparative Study %U https://publications.waset.org/pdf/3753 %V 70 %X A novel design of two-wheeled robotic vehicle with moving payload is presented in this paper. A mathematical model describing the vehicle dynamics is derived and simulated in Matlab Simulink environment. Two control strategies were developed to stabilise the vehicle in the upright position. A robust Proportional- Integral-Derivative (PID) control strategy has been implemented and initially tested to measure the system performance, while the second control strategy is to use a hybrid fuzzy logic controller (FLC). The results are given on a comparative basis for the system performance in terms of disturbance rejection, control algorithms robustness as well as the control effort in terms of input torque. %P 2032 - 2039