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Recent metaheuristics on control parameter determination
Figure 3. Balance response of two-wheeled vehicle for all methods
Figure 4. Speed responses of the two-wheeled vehicle with eleven metaheuristic algorithms
and excessive response due to the high Kp values. response produced by this method at first, but
Since the parameter values of CO are higher, it then it reaches the reference at the zero point.
also produces a larger oscillatory response com- The speed responses of the system are shown in
pared to PO. As for the CMA-ES method, it is Figure 4 for the following optimizers: PO, AO,
seen that there is an excessive oscillation in the GOA, POA, GJO, FDA, EO, ARO, CSA, GWO,
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