Two-wheeled self-balancing system is a two-wheeled left and right parallel structure, similar to a traditional pendulum balance system with the catch plate, which itself is a natural instability. The design system of two-wheeled vehicle in the complementary filter, point of fusion theory based on some research, use ATMEL Atmega16 microcontroller of the company, acceleration sensors and gyroscopes as awareness of the car system and incremental PID control with monolithic integrated circuit PWM waves output and L289 steering and speed control motor realizes the dynamic balance of the car.