[geor9e]

We are in total agreement. I was illustrating my point that a unicycle rider avoids flipping because they never use the full braking power (lock up the wheel). The gyroscope controller won't let you - you can only brake as hard as you can counterforce (throw your entire body weight hard backwards). As soon as the gyroscope senses a change in angle, the P.I.D. motor controller compensates.