Using a neural network as a feedback controller

The design and implementation of an automatic controller such as a PID (proportional, integral, and derivative) controller or a self-tuning regulator has been of much interest in process control, and has been the subject of research in the past decade. Many of the controllers in use today require manual tuning of the gain constants. Using the inverted pendulum as an application, it is possible to use a heuristic to both balance the pole and restore the cart to the proper position. It is shown that an artificial neural network (ANN) can be used as the heart of the controller. The ANN controller can be trained by the same heuristic to balance the broom