Author : Najat Al-rashid, Yousef Alfarsi and Haya Al-Khudhier

This paper presents optimising the control gains of a single link inverted pendulum on cart system using a
constrained adaptive bacterial foraging optimisation strategy. The adaptive algorithm is based on the variable
chemotactic step for each bacteria in the population to enhance the dispersal of the search and accelerate the
convergence of the algorithm. This paper presented the development of simple constraints to bound the search
domain within the feasible and stable range of control gains of the system. The system was modelled and simulated in Matlab Simulink software with the linked optimisation algorithm code to simulate the system over multiple
iterations. Results showing a great enhancement of the system performance are illustrated and discussed.

Keywords: optimization, inverted pendulum, bacterial foraging, mobile robot.

Article published in International Journal of Current Engineering and Technology, Vol.5, No.5 (Oct-2015)