Application considerations for the DHP methodology

Six questions are posed that are likely to be of interest to one considering applying the dual heuristic programming (DHP) methodology. Tentative answers to these questions are provided in the last section of the paper. As a basis for these, the paper first describes observations made from a series of explorations into various aspects of using the DHP method to design the controller for the pole-cart benchmark problem. Parameters of the explorations included training gains, plant parameter variations, fidelity of plant model, controller sampling rates, network architectures, training strategies, and generalization tests