The actuator saturation problem is very common in the real system, owing to the actuators are limited by physical factors. The balance and stability of the two-wheeled trolley is also plagued by the problem of actuator saturation. In order to establish its nonlinear mathematical model, we can change the stability issues into a standard control problem. Using the LMI to give a method of control algorithm design about fixed gain and adaptive gain. In conclusion, it's clear that adaptive control algorithm can make the closed-loop system to get a greatest attraction area under the normal and fault mode. The results show that adaptive control has the better effect by using the simulation.