Who has the best code for a balancing (Segway) robot ?

I am building a Balancing Segway type robot.

I have several copies of various persons codes that they used on their similar projects. I have noticed that they all use a slightly different strategy to achieve the same goals.

Some use encoders while most do not. Some use simple 2 axis gyro/acc while some use 2-3 redundant units.

Some are long as 900 lines of code while some are short as 300 lines.

Some seem to function normally, others only work well enough to just keep upright and allow a jerky movement.

Does anyone have a recommendation of one that works well?

Thank you, Mizlplix