Embodiments of the present disclosure can include a method of operating a vibratory gyroscope, the gyroscope comprising a plurality of excitation and readout electrodes, and defined by a first vibratory mode and a second vibratory mode, and the method comprising: introducing an input signal to a first pair of excitation electrodes; multiplying the input signal by scaling coefficients; applying these scaled input signals to a first pair of excitation electrodes; measuring output signals at the first and second pair of readout electrodes that correspond to the first and second vibratory modes respectively; multiplying the output signals by readout scaling coefficients to form scaled output signals, the sums of which provide first and second vibratory mode readout signals; and adjusting the scaling coefficients to maximize the first and minimize the second vibratory mode readout signals.