This thesis presents a two-wheeled balancing robot using GY-80 module detects acceleration signal to drive DC motors. The board's microcontroller family of AVR (Arduino UNO R3) to control the robot to balance on two wheels. The Proportional control, integral, derivative. Trial Supply Voltage 9V displayed graphically by the angle with time to maintain balance. The results showed that two-wheeled robot can maintain a maximum of 1 minute 53 seconds.