A　two-wheeled　self-balancing　robot　system　is　designed,　which　uses　TMS320LF2407DSP　as　the　controller　and　Mio-x　AHRS　module　as　the　main　sensor.　The　dynamic　model　of　robot　is　analyzed　by　state　space　model　and　transfer　function.　Robot＇s　physical　system　control　is　guided　by　the　result　from　simulation　experiments.　A　LQR+PID　control　method　is　put　forward　by　comparing　advantages　and　disadvantages　of　LQR　control　and　PID　control.　The　experiments　result　shows　that　this　control　method　cuts　down　the　design　cycle,　and　also　has　a　strong　robustness.　It　is　suitable　for　the　multi-variable,　high-rank,　strongly　coupling,　non-linear　two-wheeled　self-balancing　robot　control.　©　(2014)　Trans　Tech　Publications,　Switzerland.