This　paper　proposes　a　dual　loop　nonlinear　control　method　based　on　non-linear　PID　(DLNPID)　for　the　single-wheeled　robot.　The　control　method　is　proposed　as　dual-loop　non-linear　control　method　which　has　roll　tilt　inner　control　loop,　pitch　tilt　inner　control　loop　and　x　control　loop.　Every　control　loop　consists　of　nonlinear　PID　controller.　The　stability　of　the　control　system　is　proved　by　Lyapunov　method.　Experiment　results　show　better　rubustness　of　DLNPID　than　that　of　linear　methods.