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Optimum LQR Controller for Inverted Pendulum Using Whale Optimization Algorithm

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Signals, Machines and Automation (SIGMA 2022)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 1023))

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Abstract

In this work, a Linear-Quadratic Regulator (LQR)-based control scheme is designed for a highly nonlinear and unstable inverted pendulum system. The system is linearised about its vertical position based on certain assumptions. Initially, weight matrices of the LQR controller are selected based on a trial and error method. These matrices are then optimised using a multi-objective genetic algorithm (GA) and whale optimization algorithm (WOA). The robustness of designed controllers is tested by reference tracking and parametric uncertainty analysis. The results reveal that optimisation of LQR by WOA provides superior performance compared to GA.

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Author information

Authors and Affiliations

  1. Division of ICE, Netaji Subhas Institute of Technology, University of Delhi, Delhi, India

    Bharti Panjwani & Vipul Kumar

  2. Department of ICE, Netaji Subhas University of Technology, Delhi, India

    Jyoti Yadav

  3. Department of Mechatronics, Manipal Institute of Technology, Manipal Academy of Higher Education, Manipal, Karnataka, 576104, India

    Vijay Mohan

Authors
  1. Bharti Panjwani
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  2. Vipul Kumar
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  3. Jyoti Yadav
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  4. Vijay Mohan
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Corresponding author

Correspondence to Bharti Panjwani .

Editor information

Editors and Affiliations

  1. Department of Instrumentation and Control Engineering, Netaji Subhas University of Technology, New Delhi, Delhi, India

    Asha Rani

  2. Department of Instrumentation and Control Engineering, Netaji Subhas University of Technology, New Delhi, Delhi, India

    Bhavnesh Kumar

  3. Department of Electrical Engineering, National Institute of Technology Delhi, New Delhi, Delhi, India

    Vivek Shrivastava

  4. Department of Electrical Engineering, University of Sharjah, Sharjah, United Arab Emirates

    Ramesh C. Bansal

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Panjwani, B., Kumar, V., Yadav, J., Mohan, V. (2023). Optimum LQR Controller for Inverted Pendulum Using Whale Optimization Algorithm. In: Rani, A., Kumar, B., Shrivastava, V., Bansal, R.C. (eds) Signals, Machines and Automation. SIGMA 2022. Lecture Notes in Electrical Engineering, vol 1023. Springer, Singapore. https://doi.org/10.1007/978-981-99-0969-8_31

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  • DOI: https://doi.org/10.1007/978-981-99-0969-8_31

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-0968-1

  • Online ISBN: 978-981-99-0969-8

  • eBook Packages: EnergyEnergy (R0)

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