Abstract—Many authors have utilized Lyapunov’s direct technique to design robust adaptive controllers. In recent years, the work of applying H? theory to control wheeled inverted pendulums is a topic of much concern due to its underactuated, external-disturbance-prone and nonlinear model. In this paper, we propose a new control method by applying the H-infinity and Backstepping technique based on Lyapunov’s direct technique to stabilize tracking error for converging to arbitrary ball of origin. Under disturbances belonging L2-space, the simulation results of WIP demonstrate the effectiveness of the proposed controller.