This paper explores the application of a model-free control technique to a rotational inverted pendulum. The control law incorporates an algebraic estimator for estimating the system dynamics within a short time window (ultra-local) and includes a term to enforce the desired closed-loop dynamics. Due to the underactuation of the system, a modification to the control law was implemented to stabilize the arm's position, since the original control law is of the input-output type. Experimental results demonstrate the successful application of this technique to unstable systems, such as the inverted pendulum.
