Comparison of advantages and disadvantages of control methods used in nonlinear systems is presented. To take advantage of both adaptive and robust control methods, a novel method which switches between the two is proposed. Robust control is used during transients and situations where parameters are uncertain. During steady state operations, adaptive control is used. Switching between the two methods is carried out based on the standard deviation of the estimated parameter vector. The method has been implemented on a 2 DOF articulated robot. Experimental results are presented to prove the robustness and the accuracy of the new control method.