A tweak to IRV to make it a Condorcet method
tl;dr: Rather than eliminating the bottom-most candidate, instead eliminate the loser of a head-to-head matchup of the bottom-most two candidates, ensuring that the Condorcet winner (if one exists) is never eliminated.
In instant-runoff voting (IRV), each voter ranks the candidates in order of preference.
The winner is decided by the following procedure:
-  Let X be the candidate who is the first preference (among non-eliminated candidates) on the fewest ballots.  Eliminate candidate X.
-  If only one candidate remains, elect this candidate and stop.
-  Otherwise go to step 1.
A major downside to IRV is that it isn't a 
Condorcet method; i.e., IRV can elect a candidate 
A even if a majority of voters prefer candidate 
B over candidate 
A.
A tweak to IRV to make it a Condorcet method is to change Step 1 of the above procedure to eliminate the loser of a head-to-head matchup of the bottom-most two candidates.  The tweaked procedure is as follows:
-  Let X be the candidate who is the first preference (among non-eliminated candidates) on the fewest ballots.
Let Y be the candidate who is the first preference (among non-eliminated candidates) on the second-fewest ballots.
If a majority of voters prefer X over Y, then eliminate Y; otherwise, eliminate X.
-  If only one candidate remains, elect this candidate and stop.
-  Otherwise go to step 1.
Example:
| Percentage of voters
 | Ballot ranking | 
| 38% | (1) Alice, (2) Bob, (3) Charles | 
| 15% | (1) Bob, (2) Alice, (3) Charles | 
| 15% | (1) Bob, (2) Charles, (3) Alice | 
| 32% | (1) Charles, (2) Bob, (3) Alice | 
- 
With IRV, Bob (with 15%+15%=30% of ballots ranking him the top choice) is eliminated in the first round.
- 
With tweaked-IRV, instead there is a head-to-head matchup of Bob against Charles.  Bob is preferred to Charles by 38+15%+15%=68% of voters, so Charles is eliminated in the first round instead of Bob.
More info: 
https://electowiki.org/wiki/Bottom-Two-Runoff_IRV
Definitions:
- A Condorcet winner is a candidate who beats every other candidate in a head-to-head election.  I.e., if X is a Condorcet winner, then, for every other candidate Y, a majority of voters prefer X over Y. 
- An election method is a Condorcet method iff it always elects a Condorcet winner if one exists.
Proposition: Assume that a Condorcet winner exists.  Then the tweaked-IRV method elects the Condorcet winner.  
Proof:
- The Condorcet winner is never eliminated in step 1 of the procedure:
    
    - If X is the Condorcet winner, then a majority of voters prefer X over Y, so Y is eliminated instead of X.
    
- If Y is the Condorcet winner, then there is no majority of voters who prefer X over Y, so X is eliminated, not Y.
    
 
- When only one candidate remains, that candidate must be the Condorcet winner, because the Condorcet winner is never eliminated (as proven above).