The inverted pendulum problem is a classic model used in control theory to demonstrate how a system can use a simple controller to handle complex dynamics. For many early controls engineers this is a fundamental benchmark for your skills in stabilizing a system, and the tuning and control of such a system is a great way of demonstrating mastery in controller design. The system you are tuning consists of a small robotic puck (A mouse robot with two wheels) and a balanced inverted pendulum with the following characteristics: mass of the pendulum: m=50 gm=50 g length of the pendulum: l=0.08 ml=0.08 m mass of the e-puck robot: M=160 g