Aiming　at　the　problem　of　the　dynamic　model　of　a　cubical　robot　is　a　multivariable　system　and　with　strong　coupling.　A　balance　controller　is　proposed　based　on　the　active　diturbance　rejection　control.　Decoupling　control　of　the　multivariable　system　is　reallized　by　introducing　virtual　control　variables,　and　embedding　multi　active　disturbance　rejection　controllers(ADRCs)　between　control　variables　and　outputs.　The　dynamic　coupling　and　external　disturbance　are　regarded　as　total　disturbances　in　each　channel　of　the　active　disturbance　rejection　controller.　After　arranging　the　transient　dyanmics　of　the　desired　attitudes,　we　design　an　extended　state　observer　to　estimate　and　compensate　for　the　total　disturbances　simultaneously.　The　parameter-turning　of　the　controller　based　on　experience-based　approximation　technique　and　bandwith　turning　method.　A　series　of　experiments　are　conducted　by　simulation,　and　comparative　analysis　between　the　ADRC　and　PID　controller　is　made.　Simulation　results　show　that　the　ADRC　not　only　can　control　the　balance　of　the　cubical　robot　effectively,　but　also　with　superior　performance　in　response　rate,　control　accuracy　and　strong　coupling　to　the　PID　controller.　©　2019,　Editorial　Office　of　Control　and　Decision.　All　right　reserved.