A motherboard reads the inclination angle via the data provided by the gyroscopes and it adjusts the motor speed to the detected inclination so as to always hold the user in the upright position (servomechanism).

The unicycle basically prevents the loss of balance by changing the motor speed.

The motor speeds up to maintain an upright position after we shift our body weight to the front/back, making the vehicle move forward/backward using relative velocity.

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Source: https://www.drivespark.com