A kind of utility function in adaptive dynamic programming for inverted pendulum control

The inverted pendulum is a complex, classic nonlinear system. In this paper, we apply adaptive dynamic programming that is a learning control method designed by neural network for inverted pendulum control. To achieve a good control performance, a kind of utility function is studied by means of action-dependent heuristic dynamic programming. According to the type of utility function based on power function and exponential function, a novel utility function will be designed in this paper. Using the utility function to design a controller in inverted pendulum system, and comparing with other utility function used in controller for inverted pendulum control problem, improvement experiment result is obtained.