Balancing two wheeled robot using gyro. Possible?

There are documented schemes for balancing 2 wheeled segway type robots using a gyro plus an accelerometer with either a complementary or Kalman filter. I have also found schemes using a gyro plus wheel encoders.

Is it possible to balance a two wheeled robot using only a MEMS gyro (no accelerometer, no wheel encoders, no Kalman filter, no complementary filter)? If yes, how? If no, why not? Do you have supporting data?


I have already tried that jet and it doesn't works always I tried it.

Maybe just my model wasn't good enough or there is something wrong with my gyro.