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In this paper, the mobile inverted pendulum robot system is developed and controlled. Kinematics and dynamics are derived. Frequency responses of a gyro sensor and a tilt sensor are analyzed. A sensor fusion technique is used to compensate for the gyro sensor drift. Instead of using expensive sensors, a cost effective gyro sensor and a tilt sensor are fused together by filtering to estimate angle of the pendulum. For experimental studies, circular trajectory tracking control has been performed experimentally.