A vibrating structure gyroscope comprising: an annular resonator arranged to vibrate in a plane in response to electrostatic driving forces; a set of capacitive drive electrodes arranged to apply a voltage creating an electrostatic driving force to excite a primary cos nθ resonance along a primary axis at a primary frequency f P, such that Coriolis forces, resulting from an angular rate applied about an out-of-plane axis, induce a secondary cos nθ resonance along a secondary axis at a secondary frequency f S, wherein the geometry of the annular resonator results in the primary frequency f P being a superposition of a higher frequency mode f H and an orthogonal lower frequency mode f L, having a frequency split Δ f defined as Δ f = f H - f L; a digitally-controlled first set of capacitive balancing electrodes arranged to apply a first static balancing voltage creating a static electrostatic balancing force to lower the frequency f H below the frequency f L by a small frequency offset f O to an offset frequency f H ', i.e. f H ' = f H - Δ f - f O; and a digitally-controlled second set of capacitive balancing electrodes arranged to apply a second static balancing voltage creating a small static electrostatic balancing force to lower the frequency f L by the same small frequency offset f O to an offset frequency f L ', i.e. f L ' = f L - f O; wherein the second set of capacitive balancing electrodes is arranged to dynamically apply a fine balancing voltage creating a dynamic electrostatic balancing force providing a fine frequency adjustment ± δf that is applied to the offset frequency f L ' so as to maintain f L ' at f H ' during operation. an annular resonator arranged to vibrate in a plane in response to electrostatic driving forces; a set of capacitive drive electrodes arranged to apply a voltage creating an electrostatic driving force to excite a primary cos nθ resonance along a primary axis at a primary frequency f P, such that Coriolis forces, resulting from an angular rate applied about an out-of-plane axis, induce a secondary cos nθ resonance along a secondary axis at a secondary frequency f S, wherein the geometry of the annular resonator results in the primary frequency f P being a superposition of a higher frequency mode f H and an orthogonal lower frequency mode f L, having a frequency split Δ f defined as Δ f = f H - f L; a digitally-controlled first set of capacitive balancing electrodes arranged to apply a first static balancing voltage creating a static electrostatic balancing force to lower the frequency f H below the frequency f L by a small frequency offset f O to an offset frequency f H ', i.e. f H ' = f H - Δ f - f O; and a digitally-controlled second set of capacitive balancing electrodes arranged to apply a second static balancing voltage creating a small static electrostatic balancing force to lower the frequency f L by the same small frequency offset f O to an offset frequency f L ', i.e. f L ' = f L - f O; wherein the second set of capacitive balancing electrodes is arranged to dynamically apply a fine balancing voltage creating a dynamic electrostatic balancing force providing a fine frequency adjustment ± δf that is applied to the offset frequency f L ' so as to maintain f L ' at f H ' during operation.