▁Sh il ov sky ▁encountered ▁this ▁problem ▁with ▁his ▁road ▁vehicle , ▁which ▁consequ ently ▁could ▁not ▁make ▁sharp ▁left ▁hand ▁turns . ▁ ▁B ren nan ▁and ▁Sch er l ▁were ▁aware ▁of ▁this ▁problem , ▁and ▁implemented ▁their ▁bal ancing ▁systems ▁with ▁pairs ▁of ▁counter ▁rot ating ▁gy ros , ▁pre cess ing ▁in ▁opposite ▁directions . ▁With ▁this ▁arrangement , ▁all ▁motion ▁of ▁the ▁vehicle ▁with ▁respect ▁to ▁in ert ial ▁space ▁causes ▁equal ▁and ▁opposite ▁tor ques ▁on ▁the ▁two ▁gy ros , ▁and ▁are ▁consequ ently ▁cancel led ▁out . ▁With ▁the ▁double ▁gy ro ▁system , ▁the ▁inst ability ▁on ▁b ends ▁is ▁elimin ated ▁and ▁the ▁vehicle ▁will ▁bank ▁to ▁the ▁correct ▁angle , ▁so ▁that ▁no ▁net ▁side ▁force ▁is ▁experienced ▁on ▁board . ▁ ▁Sh il ov sky ▁claimed ▁to ▁have ▁difficulty ▁ens uring ▁stability ▁with ▁double - gy ro ▁systems , ▁although ▁the ▁reason ▁why ▁this ▁should ▁be ▁so ▁is ▁not ▁clear . ▁His ▁solution ▁was ▁to ▁vary ▁the ▁control ▁loop ▁parameters ▁with ▁turn ▁rate , ▁to ▁maintain ▁similar ▁response ▁in ▁turns ▁of ▁either ▁direction . ▁ ▁Off set ▁loads ▁similarly ▁cause ▁the ▁vehicle ▁to ▁lean ▁until ▁the ▁centre ▁of ▁gravity ▁lies ▁above ▁the ▁support ▁point . ▁Side ▁wind s ▁cause ▁the ▁vehicle ▁to ▁t ilt ▁into ▁them , ▁to ▁resist ▁them ▁with ▁a ▁component ▁of ▁weight . ▁These ▁contact ▁forces ▁are ▁likely ▁to ▁cause ▁more ▁dis com fort ▁than ▁corner ing ▁forces , ▁because ▁they ▁will ▁result ▁in ▁net ▁side ▁forces ▁being