non linear controllers

Controlling a cart-pendulum system involves both swinging the pendulum up and maintaining its upright position. Typically, separate controllers are used for the swing-up and stabilization phases. This paper presents the implementation of a Fractional Order Proportional-Integral-Derivative (FOPID) controller for the cart-pendulum system. A novel metaheuristic method, Class Topper Optimization (CTO), is utilized to design and optimize the FOPID controller’s performance for both the cart and pendulum. The study focuses on the pendulum angle and arm angle as key parameters. Results indicate that the proposed approach outperforms existing methods such as Genetic Algorithm (GA), Particle Swarm Optimization (PSO), and Ant Colony Optimization (ACO).