This ASIC is the core of the gyroscope-based stabilisation in the Segway. The ASIC interfaces directly with the vibrating ring MEMS gyroscope and contains both the high-voltage, high-accuracy driving chain as the low-noise angle detection circuitry. The high-voltage driving chain is based on a temperature stable, mHz accuracy tuning system. The low-noise angle detection is integrated with high-end switched capacitor techniques to achieve low-noise and ultra-low-power operation. It has been successfully brought into volume production.