Gain scheduling has been successfully applied in many different areas due to the positive results achieved when applied to nonlinear control. Its utilization enables the controller to respond rapidly to changes in operating conditions. This study demonstrates the application of gain scheduling to a SMAR didactic level system to implement adaptive control. The results exhibited a strong response with minor errors using a Proportional and Integral (PI) controller, which facilitated the development of two generic equations for determining the values of K_p (proportional gain) and K_i (integral gain) based on the desired set point.