I am making a two wheel balancing robot using LSM9DS0 IMU sensor and DC motors controlled by l293d but I don't want to use wheel encoder the robot doesn't stay in one place and keeps falling over any suggestions for how to keep it in one place without using encoders ?
Presumably, the encoders provide some sort of feedback.
You could implement another form of feedback, or you could trust to luck.
Next post, maybe you could try some punctuation.
There are errors in your program.
So if you want us to guess, omit all the details of your hardware and code.
However it is clear you cannot run both the balance and position loops from a single IMU due the
intractable amount of drift you get from MEMS accelerometers, which is why you need the encoders
to determine position.