@inproceedings{30f1c3863c564503a350e7a6977bb050,
title = "Optimum LQR Controller for Inverted Pendulum Using Whale Optimization Algorithm",
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.",
author = "Bharti Panjwani and Vipul Kumar and Jyoti Yadav and Vijay Mohan",
note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 2nd International Conference on Signals, machines, and Automation, SIGMA 2022 ; Conference date: 05-08-2022 Through 06-08-2022",
year = "2023",
doi = "10.1007/978-981-99-0969-8\_31",
language = "English",
isbn = "9789819909681",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "307--315",
editor = "Asha Rani and Bhavnesh Kumar and Vivek Shrivastava and Bansal, \{Ramesh C.\} and Bansal, \{Ramesh C.\}",
booktitle = "Signals, Machines and Automation - Select Proceedings of SIGMA 2022",
address = "Germany",
}