The PID control algorithm for balancing robot attitude control suffers from the problem of difficult parameter tuning. Previous studies have proposed using metaheuristic algorithms to tune the PID parameters. However. traditional metaheuristic algorithms are subject to the criticism of premature convergence and the possibility of falling into local optimum solutions. https://www.bekindtopets.com/mega-deal-Chocolate-Puddles-the-Platypus-180g-Gourmet-brands-super-choice/