A Hierarchical Approach to Designing Approximate Reasoning-Based
  Controllers for Dynamic Physical Systems
  This paper presents a new technique for the design of approximate reasoning
based controllers for dynamic physical systems with interacting goals. In this
approach, goals are achieved based on a hierarchy defined by a control
knowledge base and remain highly interactive during the execution of the
control task. The approach has been implemented in a rule-based computer
program which is used in conjunction with a prototype hardware system to solve
the cart-pole balancing problem in real-time. It provides a complementary
approach to the conventional analytical control methodology, and is of
substantial use where a precise mathematical model of the process being
controlled is not available.
