This study investigated to design the trajectory tracking controller for wheeled inverted pendulum robot using tilt angle control. It introduced as follows; 3DOF model of wheeled inverted pendulum robot was derived by Lagrangian multiplier method. The trajectory tracking algorithm was redesigned in order to track the trajectory by forward and backward motions. The update algorithm is used to move the way point, which is desired position for servo controller. The tilt angle control was designed to control the tilt angle and the robot's motion. Initial condition and simulation result, which were described the initial condition for simulating the motion and the result of the trajectory tracking using the tilt angle control. The result exhibited that the robot can performs to track the trajectory well. However, some errors might be occurred when the robot performs the steering motion but the robot has a function able to perform to the goal successfully.