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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 investigatesdoi:10.5772/54658 fatcat:asws5d22gvgjjd2v4qrih5cfpy