Robust Fixed Point Transformations-based model reference adaptive control of inverted pendulums

Nowadays Lyapunov's second method is the most prevalent in control tasks. Although, the method is ingenious, sometimes using other solutions can be more comfortable because of its lower complexity. One of these methods is the family of Robust Fixed Point Transformations (RFPT) which proved to be very useful in many cases. In this paper a modified, RFPT-based Model Reference Adaptive Controller (MRAC) is suggested for balancing two inverted pendulums. The simulation results show that this controller, instead of a simple traditional PD-type controller, can handle the dynamic system very well, and after a short stabilizing period it keeps the tracing error very low.