Nonlinear inverted pendulum PID control by an improved Artificial Bees Colony-Predator and prey approach

In this paper, we present a new tuning method for a PID controller of a nonlinear system. The proposed approach is an hybridization of the Artificial Bees Colony (ABC) and the Predator and prey (P\&P) behavior. The employed bees will explore new sources in the search space while running away from their predators. Simulations of the proposed algorithm are carried out over an inverted pendulum nonlinear system. Obtained performances are better then Genetic algorithm when compared in the same conditions.