Self balance using mpu6050

I am trying to make a self balancing robot, almost 70% of balancing is obtained. The robot is self balanced but its is oscillating on position. It trying to stop but it oscillates. That is, when i push the robot, it goes to a distance and then it oscillates but not stopping.

Self_balance_kp_ki_kd_value_adj2.ino (4.25 KB)