Raniero Humberto Calderon2026-03-222026-03-22202310.53375/icmame.2023.403https://doi.org/10.53375/icmame.2023.403https://andeanlibrary.org/handle/123456789/53307Citaciones: 1The inverted pendulum, is a classical experiment widely used as a benchmark for research in control systems, due to its challenging dynamics. In this paper, Deep Reinforcement Learning is used to control a real inverted pendulum on a cart. The Soft Actor Critic algorithm with automatic entropy tuning is used to train an agent capable of acting as a controller. The agent is trained on real data collected on an episodic basis and learns to carry out the swing up control task successfully.enInverted pendulumSwingComputer scienceBenchmark (surveying)Double inverted pendulumControl theory (sociology)Artificial intelligenceReinforcement learningController (irrigation)Task (project management)article