Tree search approach to the control of a pendulum

This paper presents a tree search technique to solve the dynamic control problems. To illustrate the proposed procedure, the swinging control of a pendulum carried by a motor-driven cast is discussed as an example. Since the control system is of two degrees and the control problem is a nonlinear one, it is difficult to determine a swinging control rule analytically. However, by means of the proposed tree search approach, the problem can be solved in a relatively easy way. Some numerical calculations axe performed to verify the methodology. The result of the study shows that the proposed tree search technique is suitable for the dynamic control problems, in particular, for the complicated nonlinear dynamic control problem.