With　only　one　contact　point　with　ground,　the　balance　control　problem　of　Single　wheel　robot　(SWR)　is　still　a　big　challenge　for　researchers.　In　this　paper,　a　new　nonlinear　control　algorithm-ADRC　(active　disturbance　rejection　control　technique)　was　proposed.　The　integration　simulation　by　ADAMS　and　MATLAB　of　flywheel　balanced　SWR　is　presented.　The　integrated　platform　provides　an　avenue　for　developing　a　mechatronics　system　without　the　need　of　building　mathematical　model.　The　simulation　results　verified　the　robustness　of　the　proposed　ADRC　method　on　the　control　of　SWR.