A Hemispherical Resonator Gyro (HRG) is the Coriolis Vibratory Gyro (CVG) that measures rotation angle or angular velocity using Coriolis force acting the vibrating mass. A HRG can be used as a rate gyro or integrating gyro without structural modification by simply changing the control scheme. In this paper. differential control algorithms are designed for a 2-piece HRG. https://parisnaturalfoodes.shop/product-category/lemongrass/