This research investigates robust balancing and tracking control issues associated with a humanoid wheeled-inverted-pendulum(WIP) robot. Particularly, a method to estimate the attitude of WIP vehicle and an anti-slip interpolating controller with integral action are proposed. In the attitude estimating method, dynamics and the sensor fusion technique are applied to realize the gravity estimator. The convergence rate of the estimator is also studied. In the controller design, the dynamics of the typical WIP vehicle is analyzed and is further applied with an integral control. A set of linear matrix inequalities (LMI’s) is derived to prove the controller convergence rate. Finally, simulations are conducted and a humanoid WIP robot is constructed to validate the performance of the estimation method and the control system.