A biomimetic learning model is proposed based on the operant conditioning learning automatic(OCLA) within
the structure of learning automatic theory for the balance control of a two-wheeled robot. A cognitive learning unit and
a tropism unit are introduced in this model, and they are used to evaluate the operant behavior learning and to direct the
evolution of the system respectively. Finally, the simulation experiments on the two-wheeled robot show the feasibility and
effectiveness of the proposed algorithm, and the robot learns the ability of balance control and has high self-adaptive ability.