1. A method for controlling yaw of a balancing transporter, comprising: receiving an input from a user based on a position of a member with respect to a fiducial axis; calculating a rate of change of the position of the member with respect to the fiducial axis; and generating a yaw command signal based on at least the position of the member and the rate of change of the position of the member which is weighted based on the level of experience of the user to reduce the effect that the rate of change of the position of the member has on the yaw command signal for a beginner user.