Solving Robot Wobbly movement

Yea are looking for help to solve our PID controller of our robot. There is wobbly movement in our robot and I hope to seek someone with experience in MathLab to help solve the best PID controls for our low level controller and to help smoothen the operations. The project may include PID simulation as well as to propose a better formulas or values in our low level controls.

The work may include low level programming.