This project describes the successful creation of a two-wheeled, self-balancing robot utilizing an Arduino Nano for processing and a 12V power system for strong motor torque. The robot's ability to maintain the unstable inverted pendulum position is entirely dependent on real-time feedback from the MPU6050 IMU, which provides precise angle data. This data is fed into a high-frequency, carefully calibrated PID (Proportional-Integral-Derivative) controller, which is the "brain" of the system. The tuning of the PID gains was the most critical step, allowing the robot to instantly correct for lean, damp oscillations, and eliminate long-term steady-state drift, thereby achieving stable, defiant balance.