hi, i am supposed to control a double pendulum with a controller based on Artificial Neural network. I understand the basics of ANN but i m not able to understand how to actually go about creating the model, training the ANN and then using it as a controller. i cant find the exact papers or tutorials that show step by step procedure that would help me understand such control problems better. can anyone help me with the exact tutorial on how to do this?? even a tutorial on a basic pendulum would help a lot. i want to simulate it in simulink. thanks.