The　Artificial　Intelligence　and　Robot　Laboratory　at　the　Beijing　University　of　Technology,　has　built　a　two-wheeled　Self-balancing　robot　which　includes　a　digital　signal　processor　as　controller,　a　gyroscope　and　an　inclinometer　and　two　motor　encoder　as　sensors,　two　coaxial　dc　motors,　each　of　which　is　coupled　with　a　wheel,　as　implement.　The　system　mathematical　model　is　built　up　using　dynamics　mechanics　theory　and　method.　The　design　of　the　control　routine　in　simulation　and　DSP　both　employ　LQR　control　strategy　to　help　the　robot　to　keep　balance.