Stabilization of a Reduced Order Inverted Pendulum by Using Whale Optimization Algorithm

In this paper, an attempt has been made to develop an efficient control algorithm for the stabilization of an inverted pendulum. A novel stochastic optimization technique namely whale optimization algorithm (WOA) is employed to search the optimum settings of proportional-integral-derivative controller with derivative filter (PIDF). The proposed WOA mimics bubble net hunting mechanism of humpback whales in nature. The main advantage of this algorithm is that only population size and maximum iteration count are required for its operation. Logarithmic approximation and time-moments have been adopted to formulate the reduced order model (ROM) of inverted pendulum. The results presented in this paper clearly show that proposed control algorithm with ROM exhibit satisfactory outputs and effectively increases the stability margin of inverted pendulum.