The　servo　control　system　is　designed　with　TMS320F2812　DSP　chip　as　its　core.　It　solves　the　problem　of　the　generating　of　PWM　signals,　motor　velocity　feedback　and　direction　and　the　feedback　of　the　motor　current　in　the　servo　control　system.　The　structure　and　mathematical　modeling　of　a　dual-wheel　upright　self-balancing　robot　are　studied.　The　real　experiments　are　done.　The　right　and　left　wheels　are　driven　separately　by　two　high　precision　Direct　Current　(DC)　servo　motors　with　photoelectric　encoder.　Direct　current　servo　control　system　of　Pulse　Width　Modulation　(PWM)　is　based　on　the　application　of　pulse　width　modulation　DC-DC　converters.　Based　on　the　construction　of　the　structure　model　for　the　system,　the　systematic　mathematical　model　is　worked　out　according　to　the　dynamic　mechanics　theory.　The　state　feedback　controller　(LQR)　with　good　robustness　is　designed　on　Matlab.　The　stability　of　the　system　is　proved　by　simulation　results.　The　human-like　robot　can　realize　all　kinds　of　walking　control.　Validity　and　rationality　of　the　system　modeling　and　the　controller　designing　are　verified　through　the　performance　experiments　of　the　prototype.　©　2008　IEEE.