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Controlling a cart-pendulum system involves both swinging the pendulum up and maintaining its upright position. Typically, separate controllers are used for the swing-up and stabilization phases. This paper presents the implementation of a Fractional Order Proportional-Integral-Derivative (FOPID) controller for the cart-pendulum system. A novel metaheuristic method, Class Topper Optimization (CTO), is utilized to design and optimize the FOPID controller's performance for both the cart and pendulum. The study focuses on the pendulum angle and arm angle as key parameters. Results indicate that the proposed approach outperforms existing methods such as Genetic Algorithm (GA), Particle Swarm Optimization (PSO), and Ant Colony Optimization (ACO).

BackgroundThe aim of this study was to assess the relationship between serum vedolizumab (VDZ) concentrations and antibodies to VDZ (ATV) in a large cohort of patients with inflammatory bowel diseases. Furthermore, we evaluated the association between serum VDZ concentrations and a novel serum-based biomarker panel designated as the endoscopic healing index (EHI), developed and validated for identifying mucosal inflammation in patients with Crohn’s disease (CD).MethodsRetrospective study where results from patient samples submitted to a commercial clinical laboratory were included. Serum VDZ and ATV levels were analyzed using a drug-tolerant assay. In CD patients for whom both VDZ and EHI were available, VDZ concentrations were correlated with EHI. serum VDZ threshold analysis was performed using ROC curves, and the serum VDZ concentrations that best differentiated EHI < 20 (previously associated with endoscopic remission) were chosen.ResultsA total of 9356 patients were included in the VDZ/ATV analysis. Detectable ATV was observed in 2.9% patients with significantly lower serum VDZ concentrations when compared to those with undetectable ATV [3.9 µg/mL (0–9.0) vs. 11.3 µg/mL (5.9–20.6), p < 0.0001]. Of the patients with serum VDZ result, 287 patients had a concomitant EHI test. An inverse correlation was observed between VDZ concentration and EHI (rho = − 0.20, p < 0.001). A serum VDZ concentration ≥ 15.7 µg/ml was best correlated wi th an EHI < 20 [AUROC: 0.67 (95% CI 0.57–0.77)].ConclusionsIncidence of ATVs was low, but significantly associated with lower VDZ levels. A serum VDZ concentration threshold of ≥ 15.7 µg/ml was associated with endoscopic remission as defined by an EHI < 20.