Simulation and Control of a double pendulum by Neural Networks

hi, i am supposed to control a double pendulum with a controller based on Artificial Neural network. I understand the basics of ANN but i m not able to understand how to actually go about creating the model, training the ANN and then using it as a controller. i cant find the exact papers or tutorials that show step by step procedure that would help me understand such control problems better. can anyone help me with the exact tutorial on how to do this?? even a tutorial on a basic pendulum would help a lot. i want to simulate it in simulink. thanks.

Answer 1

[Sebastian Castro]

The documentation page for Neural Network control of a robot arm (basically a pendulum) is here:

http://www.mathworks.com/help/nnet/ug/design-model-reference-neural-controller-in-simulink.html

It lists all the steps in detail, so hopefully it helps. Also, in MATLAB, you can open this model by entering:

>> mrefrobotarm

- Sebastian

[Anastasia Svinukhova]

I change structure NN Plant and his characteristics in window. But it write "must have 1 in and 1 out signal". Have I to make a circuit from scratch for the case with 2 links robot?

[Håkon Elfving]

Hey! Did you figure it out in the end? Im having the same problem