An inverted pendulum system (IPS) is a highly nonlinear dynamical open loop unstable system. typically used as a benchmark to verify the performance of controllers. The IPS emulates the behaviour of an altitude control of a space booster or rocket on take-off. The problem is to develop suitable controllers to maintain the stabilization and swing up of an inverted pendulum on a cart. https://www.chiggate.com/loving-earth-jilungin-dreaming-tea-30g-cheap/