This paper presents the results on the modeling and the control of a two-wheeled prototype, the vehicle named B2, based on the inverted pendulum principle. Its goal is to reduce the problems due to the vehicles in the center of the towns. A Takagi-Sugeno fuzzy model has been developed from the prototype parameters. Some robust PDC control laws, with and without observers were realized in continuous time. A comparison with a linear law and some robustness tests were presented. The results are satisfactory, the B2 is stabilized and the speed follow s the state point given by a joystick.