This paper presents control studies of a rotary inverted pendulum (RIP) by applying a model-free backstepping (MFBS) control technique. We first discuss the new MFBS technique. which does not rely on the detailed model of the system. and makes use of only the system structure and measurements of the state. https://www.spidertattooz.com/Nyrkki-terassormus-Teras-316L/