The present work deals with the observer based-controller design for nonlinear Powered Two-Wheelers Vehicles (PTW) modeled in Takagi-Sugeno fuzzy representation. Based on the Lyapunov method and Linear Matrix Inequality (LMI) formulation, sufficient conditions have been derived to prove the Input to State Stability (ISS) property of the nonlinear PTW model with such a controller. The main contribution of this paper is that the whole stability of the couple observer-controller is studied by designing the observer and the controller separately and proving the ISS of the whole nonlinear PTW model. The aim here is to ensure a best profile tracking of the PTW in term of roll preview (trajectory) for large range of longitudinal velocities.