Security for Multihop Wireless Networks

Securing the Control of Euler–Lagrange Systems  ◾  373

step size of the critic model, which is l

c

(n) and that of the action model, which is

l

a

(n) are both set to 0.03. Both the update of the critic model weight W

c

in Equation

13.25 and the update of the action model weight W

a

in Equation 13.27 last for

30 s. As shown in Figure 13.6 with the proposed system, the system is successfully

stabilized to the desired angles.

13.7 Conclusions

In this chapter, the self-learning SMC is considered to solve a class of sensor–actua-

tor systems. e control problem is formulated from the optimal control perspec-

tive and solved via iterative methods. In contrast to existing models, this method

does not need preknowledge on the accurate mathematic model. e convergence ...