Two-wheeled　self-balancing　robot　is　a　non-stable,　non-linear,　strong　coupling　system.On　the　basis　of　building　up　the　system　structure　model,kinetic　equation　is　built　up　by　using　the　Lagrange＇　s　method,then　obtaining　the　linearizing　model　in　the　vicinity　of　the　balance.The　control　method　of　combining　LQR　and　PID　can　effectively　overcome　the　impact　of　the　constraints　on　the　system　in　the　linearization　process,and　whit　the　controller　core　of　DSP　TMS320LF2812,the　two-wheeled　self-balancing　robot　can　achieve　dynamic　balance　whitin　a　larger　angle　range.　The　physical　experiments　results　demonstrate　that　it　can　control　the　two-wheeled　robot　system　in　a　very　short　period　of　time　to　get　a　stable　dynamic　equilibrium,validity　and　rationality　of　the　designed　controller　are　verified　through　the　performance　experiments　of　the　prototype.　©2010　IEEE.