We start by defining the idea of "equilibrium line", it is a line perpendicular to the horizontal plane (the soil, if it is flat) that goes from the midpoint of our support, upwards (the support point is halfway between the ends of our body that touch the ground).
To have a good balance we must:
Relax our body
Keep the barycentre firmly within the line of balance
Use the power of our (and topponent's) movements as support
2 tricks, when we lose our balance we can:
Move the head on the line of balance
Imagine to lean on imaginary walls (as if we were inside a cement cube)
Let's train to deliver powerful punches and kicks on one leg.