Self-balancing two-wheeled [1..9] vehicles can be considered as a bridge of experience from the straight-forward model with an inverted pendulum to the research and manufacture of two-legged robots and humanoid robots in the future. Unlike ordinary scooters or two-wheeled vehicles with two wheels located in front and back, the vehicle in the subject, the vehicle in the subject has two wheels lying parallel to each other, making it compact to move in environments tight space field. The problem of balancing two-wheeled robots with three degrees of freedom (3 DOF) has been studied for many years in universities and robotics laboratories around the world. The utility of this type of robot creates an advantage in solving problems in industry as well as in life. Two-wheeled robots are very flexible when moving on complex terrain, despite being an unstable system in themselves. When the robot moves on steep terrain, it automatically leans forward and keeps its weight on the two main rudders. Likewise, when traveling downhill, it leans back and keeps its center of gravity on the rudders. Therefore, there is never a phenomenon where the vehicle's center of gravity falls outside the support area of the wheels, which can cause an overturn.