Abstarct: The stabilization of two-wheel robot (TWR) is one of the challenging issue for mechanic and control researchers since the motion mechanism is baxsed on inverted-pendulum structure, which is inherently nonlinear and unstable. The main objectives for controlling such a system are balancing and tracking the desired trajectory. The aim of this thesis is to realize balancing of TWR baxsed on Type-2 fuzzy logic. First, a nonlinear model of TWR is presented and then two decoupled subsystems are constructed to handle rotational and Longitudinal motions. In order to stabilize system, Type-2 fuzzy controller is designed and the tracking goal is provided by sliding mode controller baxsed on zero dynamic theory in the presence of uncertainties. Therefore, a new hybrid Type-2 fuzzy sliding mode controller is developed. The simulation results of the proposed controller are compared with a hybrid Type-1 fuzzy sliding mode controller. The superiority of the Type-2 hybrid controller in performance and tracking is demonstrated by MATLAB software.