Based　on　the　chattering　phenomena　in　the　control　of　the　Two-Wheeled　Self-Balancing　Robot,　a　kind　of　fast　tracking　time　limited　recursive　least　square　estimation　method　was　proposed　to　implement　the　barycenter　offset　identification　of　the　robot.　The　result　of　simulation　shows　that,　this　method　can　estimate　the　parameter　very　fast　in　the　sudden　change　of　the　parameter.　By　adding　a　inertial　device　of　inclinometer,　the　zero　position　of　inclinometer　B　can　be　adjusted　t　by　using　the　offset　angle　which　was　acquired　from　the　data　of　inclinometer　A,　and　the　data　acquired　from　the　data　of　inclinometer　B　was　used　as　the　input　of　the　feedback　controller　and　carry　out　the　balancing　control　of　robot.　The　analysis　shows　that　this　control　strategy　considering　the　barycenter　offset　is　a　kind　of　adaptation　control　method,　can　effectively　remove　the　chattering　phenomena,　and　then　improve　the　robustness　of　the　balancing　control　for　the　Two-Wheeled　Self-Balancing　Robot.