This paper presents a methodology to implement an adaptive control of the inverted pendulum system; which uses the recursive square minimum method for the identification of a dynamic tesla pops digital model of the plant and then, with its estimated parameters, tune in real time a pole placement control.The plant to be used is an unstable and nonlinear system.This fact, combined with the adaptive controller characteristics, allows the obtained results to be extended to a great variety of systems.
The results show 30x24x24 wall cabinet that the above methodology was implemented satisfactorily in terms of estimation, stability and control of such a system.It was established that adaptive techniques have a proper performance even in systems with complex features such as nonlinearity and instability.