A Hybrid Optimizer based Nonlinear Model Predictive Control for Rotary Inverted Pendulum

A popular nonlinear system in several fields, including as robotics, aircraft, and shipping, is the rotating inverted pendulum. In this work, an optimized Non-linear Model Predictive Controller (NMPC) is designed to keep the pendulum in an upright posture and to deal with disruptions by obtaining a fast dynamic response and reducing computational time. Here, a new concept-based hybrid algorithm named Seagull Insisted Particle Swarm Optimization (SI-PSO) is proposed to enhance faster dynamic system response and reduce the overall computational time. Simulation results are presented to reveal the optimized NMPC’s robustness to the non-linear systems with the conventional optimization algorithms. The presented approach has the potential to be used to regulate a variety of nonlinear systems.