Parvin BulucuMehmet Uğur SoydemirSavaş ŞahinAykut KocaoǧluCüneyt GüzelişBulucu, ParvinKocaoglu, AykutSoydemir, Mehmet UgurGuzelis, CuneytSahin, SavaR.-E. Precup2025-10-06201997817281069912372-161810.1109/ICSTCC.2019.88857792-s2.0-85075056123https://www.scopus.com/inward/record.uri?eid=2-s2.0-85075056123&doi=10.1109%2FICSTCC.2019.8885779&partnerID=40&md5=dce06f8f83cb3b837b86307e7097a9c0https://gcris.yasar.edu.tr/handle/123456789/9369https://doi.org/10.1109/icstcc.2019.8885779https://doi.org/10.1109/ICSTCC.2019.8885779This paper presents a novel stable adaptive controller scheme for Furuta Pendulum via nonlinear auto-regressive moving-average based plant identification. During online learning for the developed controller input-output data obtained from the rotary inverted pendulum model used to update the parameters of the NARMA controller while ensuring Schur stability for the overall closed-loop control system. The parameters of the plant model and the introduced controller are computed by minimizing the identification and output tracking errors respectively both of them are absolute loss functions modified with a regularization parameter. The proposed adaptive controller is tested on Furuta pendulum model and its performance is compared with the performances of proportional integral derivative controller and model reference adaptive controller. © 2020 Elsevier B.V. All rights reserved.Englishinfo:eu-repo/semantics/closedAccessFuruta Pendulum, Narma, Nonlinear Controller, Stable Adaptive, Closed Loop Control Systems, Computation Theory, Controllers, Pendulums, Proportional Control Systems, System Theory, Two Term Control Systems, Furuta Pendulum, Model Reference Adaptive Controllers, Narma, Non-linear Auto-regressive Moving Averages, Non-linear Controllers, Proportional Integral Derivative Controllers, Regularization Parameters, Stable Adaptive, Model Reference Adaptive ControlClosed loop control systems, Computation theory, Controllers, Pendulums, Proportional control systems, System theory, Two term control systems, Furuta pendulum, Model reference adaptive controllers, NARMA, Non-linear auto-regressive moving averages, Non-linear controllers, Proportional integral derivative controllers, Regularization parameters, Stable adaptive, Model reference adaptive controlNARMAFuruta PendulumStable AdaptiveNonlinear ControllerConference Object