A method for controlling a motorized balancing transporter that has two
wheels in contact with the ground in normal operation. A signal
substantially proportional to the shaft velocity is produced, and, at a
rate less than 200 times per second, a voltage is calculated based at
least on the shaft velocity signal and a specified transporter velocity
and a voltage is applied to the motor based on the calculated voltage. A
method is also provided for yaw control of the motorized balancing
transporter that includes calculating a command to a motor amplifier based
on balancing requirements of the transporter and augmenting the command to
the motor amplifier based on a specified direction of motion.