I've tried using MPEG those options. See Below. The first one NEVER works. The DV one does most of the time but of course those are WAY too big for youtube. 😀
As -DH said, make it the best possible while staying under 100MB. Do a high bitrate MPEG4 / H.264 encode.
I did that this morning with a 44-second clip, which at 50MB was pristine quality (640x480, 29.97fps, 48KHz audio). YouTube didn't mess it up except for the very beginning.