Two-wheeled vehicle

A mobile vehicle (1A) having a vehicle body (2), a front wheel (3f), a rear wheel (3r), wherein one of the wheels is a steered wheel which can be steered by a steering actuator (8) about a steering axis (Csf) which is tilted backward, and a control device (15) for controlling the steering actuator (8), on the basis of a dynamics model of the mobile vehicle (1A) configured by a mass point system having an inverted pendulum mass point and a ground surface mass point, so as to stabilize a motional state quantity of the inverted pendulum mass point and a motional state quantity of the steering angle of the steered wheel.