In recent years, balance control of two-wheeled bicycle has received more attention of scientists. One difficulty of this problem is the control object is unstable and constantly impacted by noise. To solve this problem, the authors often use robust control algorithms. However, robust controller of selfbalancing two-wheeled bicycle are often complex and higher order so affect to quality during real controlling. The article introduces the stochastic balanced truncation algorithm based on Schur analysis and applies this algorithm to reduce order higher order robust controller in control balancing two-wheeled bicycle problem. The simulation results show that the reduced 4 th and 5 th order controller arcoording to the stochastic balanced truncation algorithm based on Schur analysis can control the two-wheeled bicycle model. The reduced 3 rd order controller cannot control the balance of the two-wheeled bicycle model. The reduced 4 th and 5 th order controller can replace the original controller while the performance of the control system is ensured. Using reduced 5 th , 4 th order controller will make the program code simpler, reducing the calculation time of the self-balancing two-wheel control system. The simulation results show the correctness of the model reduction algorithm and the robust control algorithm of two-wheeled self-balancing two-wheeled bicycle.