Balancing robots are mobile systems that maintain equilibrium on one or two wheels, depending on their configuration. These robots closely be similar to the inverted pendulum in structure and control dynamics in which, the instability and nonlinearity are the main challenges. These issues make them a classic challenge for developing and evaluating control techniques. This paper aims to design and construct a two-wheel balancing robot capable of not only sustaining balance but also handling loads of varying weights within a predefined range. To address this, an extended gain-scheduling PID controller is employed, dynamically adjusting its parameters to account for uncertainties introduced by different loads. This enhances the robot’s robustness and adaptability across diverse operating conditions and setpoints. The controller’s design mitigates the challenges posed by load variations, improving performance over traditional methods. Simulation and experimental results validate the approach, demonstrating significant enhancements in stability and overall effectiveness compared to conventional control strategies, especially when subjected to changing load conditions. Consequently, this study provides a feasible and effective solution for real-world applications.