Abstract: An active feedback roll stabilization and torque control for a vehicle or equipment, having a propulsion unit with counter-rotating rotary members, detects a vehicle roll or torque, detects an error between the detected roll or torque and a reference roll or torque and, based on the detected error, dynamically and individually controls the respective torque and, hence, reaction torque exerted by the counter-rotating rotary members, to obtain a net reaction torque continually urging the vehicle's roll or torque to move the error toward zero.