If one thinks about it, the physics of keeping a manuvering two-wheeled vehicle upright using a gyroscope is not at all obvious. The fact that it could be done in the pre-computer age is even more astounding.
A fairly complete explanation of the gyro monorail development in the early years of the twentieth century shows how they did it...
I don't know if this is the technique employed by the car companies, but it's still fascinating, even if impractical.
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