Abstract: Research on the structure of the Dual-wheel upright self-balance Robot is conducted and the mathematical model is built up.The simulation and real experiments of robot were done.On the basis of building up the system structure model,the mathematical model is built up using dynamics mechanics theory and method.The linear quadratic regulator(LQR)is designed on Matlab,the system has good robustness. Validity and rationality of the system modeling and the designed controller are verified through the performance experiments of the prototype.Two wheels of the mobile robot were coaxial and driven independently.The centre of robot's gravity locates above wheel axle.The robot can walk upright and keep balance by moving.Because of its special structure,it has strong ability to adapt ground condition and movement agility,and can do some complex working environments.The reliable experiment platforms of Autonomous controlling and self-learning of robot are presented.