In this paper it is proposed an indirect approach to the Dual Mode Adaptive Robust Controller (DMARC), which combines the typical transient and robustness properties of Variable Structure Systems, with a smooth control signal in steady-state, typical of conventional Adaptive Controllers, as Model Reference Adaptive Controller (MRAC). The aim of this indirect version, here named Indirect Dual Mode Adaptive Robust Controller (IDMARC), is to provide a more intuitive controller design, based on physical plant parameters, as resistances, inertia moments, capacitances, etc maintaining DMARC properties. In this paper, it will be presented a stability analysis for the proposed controller and simulations to an unstable second order plant.