According to one aspect, a control system for providing stable balance control may include an H∞ controller, a state-feedback circuit, a first feedback loop, and a second feedback loop. The control system may be implemented in a robot as a controller for the robot. The H∞ controller may receive an input signal and generate a control effort signal. The state-feedback circuit may receive the control effort signal as an input and generate an output signal. The feedback loop may include the H∞ controller and the state-feedback circuit and may transfer the output signal of the state-feedback circuit back to the input of the H∞ controller and input a tracking error input signal to the H∞ controller. The tracking error input signal may be the difference between the output signal of the state-feedback circuit and the input signal.