Whale Optimization Algorithm (WOA) Based Control Of Nonlinear Systems

An efficient optimization technique based controller is proposed, for non-linear systems like inverted pendulum and robotic arm manipulator which are bench mark problems in control engineering. The optimization based controller is optimizing the gain parameters by using the Whale optimization algorithm (WOA). WOA is applied on Conventional PID controller to optimize their parameters i.e. $\mathbf{K_{p}}, \mathbf{K_{i}}$ and $\mathbf{K}_{\mathbf{d}}$. Mean Square Error (MSE) is taken as the objective function. The Simulation results show substantial improvement in the performance of the nonlinear systems.