Wheel balancing Robot (WBR) or known as Wheel Inverted-Pendulum (WIP) robot is a two wheels robot that able to balance its body while autonomously/ remotely manoeuvre around. This robot is normally utilized as Mobile service robot, interactive mobile robot, personal transporter, & etc for domestic, edutainment, & recreation purposes. The system has high non-linearity and complex dynamics. Thus, modelling and control are the two important issues in insuring the successful implementation of such system for aforementioned purposes.