Elaheh Dastbaravardeh - Master of Electrical Engineering, Islamic Azad University, Mashhad Branch, Mashhad, Iran.
Mahdi yaghoobi - Assistant Professor, Department of Electrical Engineering, Mashhad Branch, Islamic Azad University,Mashhad, Iran.

Inverted pendulum system is a complicated system, which is an unstable and nonlinear system, under no-control conditions. In this paper, a Terminal Sliding Mode Controller (TSMC) is used to control this system, which is regulated by the Improved Fuzzy-Flower Pollination Algorithm (IF-FPA). Based on the pendulum position and angle, the proposed controller is designed such that the tracking error reaches zero, with the minimum control effort. To this aim, a cost function is defined, including the tracking error and the control effort. The Improved Fuzzy-Flower Pollination Algorithm regulates the controller parameters such that the cost function will be minimized. Simulation results, reveal the effective performance of the proposed method.

Inverted Pendulum System, Terminal Sliding Mode Control, Improved Fuzzy-Flower pollination Algorithm.