Abstract
The article presents the results of studying the steady state of a balancing robot when the control iscarried out in a closed state. The synthesis of the controller's coefficients was carried out by estimating the root ofthe characteristic equation and the linear quadratic regulator. Under the action of the PID controller, algorithms forcontrolling the robot servos were compiled. The results of the experimental studies allowed us to construct transientcharacteristics in a closed robot control system while balancing the state of the robot in a steady state and in motion.