The tuned LQR controller is benchmarked on the linear inverted pendulum experimental device (IP02) that is manufactured by QUANSER Company. The Bees Algorithm optimizes the weighting matrices of the LQR controller so that it can move the cart to a desired position with the minimum change in pendulum’s angle from vertically upright position during the movement. In LQR controller design, state (Q) and control (R) weighting matrices are basic parameters of LQR which are tuning by designer using trial and error method in usually. In this paper, a metaheuristic approach which is a nature-inspired search method that mimics the foraging behavior of honey bees is used for design of LQR controller to obtain optimal performance. This paper presents optimal tuning of linear quadratic regulator (LQR) controller with The Bees Algorithm (BA) for a linear inverted pendulum. Balancing of an inverted pendulum system is one of the major benchmark problems in the control system community. Stabilizing of an inverted pendulum (IP) system is a main problem for researchers working on control theory.
