In our approach intelligent contol integrates symbolic reasoning of artificial intelligence (AI) into the control prcedure. We describe how this can be accomplished by a straightforward abstraction of the conventional notion of the central model. We apply the techniques to the problem of swingup contrd of the acrobot. The resulting Explanation-Based Control strategy is compared with two mare-conventionally derived control strategies. We briefly discuss the strengths and weaknesses of the new approach.