In this report, we present a controller that is able to balance and move a segway. Firstly, we modeled the segway system in bond graph form. Then, we used full-state control to develop a controller that controls the angle of the segway body. In addition to that, we used PI control to manage the position of the segway. The final product can balance itself on a flat surface and an incline while moving 0.05 [m/s]. Lastly, we successfully implemented a system that allows a human to control the segway using a wireless gamepad.