In this project we created an environment to simulate the inverted pendulum to create and test classic control algorithms such as PID , Cascaded PID and machine learning algorithm, such as reinforcement learning, to archive some tasks such as: 1-keep the pendulum in equilibrium (PID) 2-Establish a constant speed keeping the pendulum in equilibrium (cascading PID) 3-Let the robot go to a point 1D (triple cascade PID) 4-The robot learns to perform the previous tasks using reinforcement learning This simulator was created in order to build a real self balancing robot, the environment was developed using angle 6 as client and python3 flask as server and there is a version with html5, javascripts and JQuery. Inside the folder of inv_pend (Angular 6) follow the instructions to execute the program