The present work consists of modelling, analysis, simulation and the implementation of control techniques in a two-wheeled vehicle model for different velocities, considering the main effects and parameters associated using a 5 DOF model (lateral and longituginal position/ velocity, yaw, roll and steer angles), such as mass, moments of inertia, caster angle and tires characteristics. A sensibilitity analysis of the linearized dynamical model considering its main parameters and the investigation of the motorcycle typical vibration modes (capsize, weave and wobble) is considered. Also, different control strategies for the stability and trajectory tracking problems such as feedback state and forcasted trajectory tracking are used in a linear numerical model with Simulink/ Matlab simulator.