0. These programs do not run in matlab R12 since they are based
   on matlab R11.
   You may not get a successful balancing when you run it the 
   first time. Try again if that it is the case.

1. I used anet for action network and cnet for critic network.

2. plant.m describes the cart-pole equations.

3. wnet.m = ant + cnet. We need to connect anet and cnet for 
   anet training.

4. atraingd.m is modified 
   from the nnet toolbox (mainly to turn off the display and to turn
   off critic training during action training in wnet).

5. main.m is the program you should run.

Derong Liu, July 23, 2002.