Seite - 119 - in Adaptive and Intelligent Temperature Control of Microwave Heating Systems with Multiple Sources

4.2. IntelligentControl where |U(s)| is defined as the total number of available control ac- tionsat thestatesand0≤ ≤1 is theprobability factorrepresent- ing the totalprobability toselectothernon-greedycontrolactions. The involvement of the probability factor is to achieve a trade- off between exploration and exploitation, which is important for not only sarsa but all TD methods [Thr92] [AN05] [ALL+09]. On the one hand, the controller has to make the best action according tothegreedyalgorithm(exploitation), tryingtoobtainahighlong- termexpectedreward. Butontheotherhand,thecontrollershould also occasionally explore other non-greedy actions to test if there are better control actions. This is helpful for future improvements of both the value function and the control policy, especially when thevaluefunctionisnotoptimal,orwhentheplant isstochasticor time-varying. Thevalueof theprobability factor isdeterminedmainlydepend- ing on the plant. In principle, the value of is large in the begin- ning of the learning process and then gradually decreasing. For deterministic plants, the value could eventually be zero after all state-action pairs are experienced at least once, because the state- actionvaluecanaccuratelylearnrewardsofindividualstate-action pairsbyonlyonetimesearching. Butforstochasticortime-varying plants, the value of should always keep a small but non-zero value, in order to have more accurate estimations regarding ex- ternaldisturbancesandtrack time-varyingdynamics. Besides the -greedy algorithm, there are also several other algo- rithms that aim to balance the trade-off between exploration and exploitation, such as the -soft algorithm [Tho97] and softmax al- gorithm[Bar98] [IYY02]. • Q-learning: Theupdaterule for thestate-actionvaluefunctioninQ-learningis definedas [Bar98] Q(S(k),U(k)) =Q(S(k),U(k))+α(k) [ R(k) +γmax u′ Q(S(k+1),u′)−Q(S(k),U(k)) ] . (4.48) 119