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This paper focuses on the angular stabilization of inverted cart-pendulum system using  controller. The tuning of  controller is formulated as a nonlinear optimization problem, in which the objective function is composed of five design conditions in frequency domain. Particle swarm optimization technique has been used for optimizing  parameters. Also a PID controller has been designed based on same specifications, and a comparative study has been carried out. All the responses have been calculated using FOMCON toolbox of Matlab/Simulink

Stabilization of Inverted Cart-Pendulum System Using Controller: A Frequency-Domain Approach