According　to　movement　balancing　and　position　control　problem　of　Self-Balancing　Two-Wheeled　Robot,　a　method　based　on　H　infinity　Robust　Control　was　proposed.　We　apply　it　onto　the　MIMO　nonlinear　model　of　robot,　and　simulated　it　in　the　MATLAB　environment　The　simulation　results　shows　that　the　robot　can　be　balanced　in　fixed　position　well　by　this　method,　and　also　it　have　the　ability　to　anti　interference.