We have been developing an inverted pendulum type robotic wheelchair with the ability to climb stairs. This wheelchair has a seat slider and two rotary links between the front and rear wheels on each side. It is controled by a linear-quadratic regulator consisting of a center of gravity control mode and a rotary link control mode. This paper focuses on a method for restraining movement of wheels when it climbs stairs more quickly because this movement causes fall of the wheelchair. We grasped that the movement was caused by forces acting on pitch angle, such as inertial force and reaction of driving force. We proposed a control method considering dynamic equilibrium of the attitude and confirmed the effect of restraining wheels’ movement by applying the method.