Instrumentation & Measurement Magazine 24-2 - 126

6: critic_converged ← false
7:  while r < Nt and stop = false do
8:    r ← r + 1
9:   Calculate U   E k( r ) , uk( r ) 
10:  Compute Vˆ  ( E k( r1) , uˆ k(r1) ) and uˆ k( r1)

11:  Calculate  k[ c ]( r ) and  k[ a ]( r )
12:   Update critic and actor weights   using (8), (9)
13:  if r > L
14:   if W [ c ] ( r 1 j )  W [ c ] ( r  j )   , j  {0,1, , L}, then
15:    W [ c ] (*)  W [ c ] ( r1)
16:    critic_converged ← true
17:   end if

126	

18:   if W [ a ] ( r 1 j )  W [ a ]( r  j )   , j  {0,1, , L}, then
19:    W [ a ] (*)  W [ a ] ( r1)
20:    actor_converged ← true
21:   end if
22:   if critic_converged and actor_converged then
23:    stop ← true
24:   end if
25:  end if
26:  end while
27: end while
28: return Tuned weights W [ c ](*) and W [ a] (*)

IEEE Instrumentation & Measurement Magazine	

April 2021



Instrumentation & Measurement Magazine 24-2

Table of Contents for the Digital Edition of Instrumentation & Measurement Magazine 24-2

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