Robots are one of the most useful tools in today’s world. They are widely used to move objects and perform everyday tasks. Segways are one of these tools that are commonly used nowadays for transportation and even entertainment. In this case study, the dynamical model of a two-wheeled self-balancing mobile device has been proposed. Additionally, a µ robust controller for the device has been designed. All necessary sources are available in the repository: https://github.com/abolfazldelavar/Two_wheeled_self_balancing_mu_approach_CS