This work aims to present a new optimal control scheme based on the CACM-RL technique applied tounstable systems such as a Two-Wheeled Inverted Pendulum (TWIP).The main challenge in this work is to verify and validate the good behaviour of CACM-RL in this kind of system. Learning while maintaining the equilibrium is a complex task. It is easy in stable platforms because the system never reaches an unstable state, but in unstable systems it is very difficult. The study also investigates

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... ing CACM-RL to coexist with a classic control solution. The results show that the proposed method works perfectly in unstable systems, providing better results than a PID controller.