Our language has several verbs to express waking from sleep and waking someone from sleep. Awake-awaked and awake-awoke are correct, of course, but somewhat formal: "I awoke him." Awaken-awakened-awakened is even more formal than awake: "I awakened him." More commonly used than either is wake-waked or woke: "I woke him." Waken-wakened-wakened is less used than wake-waked-waked: "I waked him." Most commonly used of all are wake up-waked up or woke up: "I waked up (or woke up) at dawn." "She waked up (or woke up) her sister at dawn." Each of the verbs mentioned may be used transitively or intransitively, but awake is largely used intransitively (When did you awake?) and waken transitively (She wakened me early). Wake is the only one of these terms regularly used with up: "Wake up, you sleepyhead." The most commonly used past participle of wake is waked (not woken or woke); the preferred past participle of awake is awaked (not awoke): "After I had waked him, I discovered my error." "I must have awaked several times that night."
Dictionary of problem words and expressions. Harry Shaw. 1975.