Balancing and Optimal Control of Inverted Pendulum Using Adaptive Controller

The goal of this paper is to develop a Wild Goat Optimization-PID Controller (WGO-PIDC) for controlling Cart Position (CP), Angular Velocity (AV), Angular Position (AP) and Cart Velocity (CV) of a pendulum under model inaccuracies and disruptions, within a steady range. By rebuilding the traditional PID employing, this method alters the control execution. The WGO-PIDC has become a revolutionary approach whose parameters alter animatedly in response to its error signal <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$e(t)$</tex>. Comparing the results obtained with the various control methods currently being used is necessary to assess the success of WGO-PIDC implementation. The comparisons revealed that the recommended method of limiting the model's dynamics has been carried out significantly better in terms of accuracy, reliability, and resilience.