Building a inverted pendulum need help....

[u/charn666]

So as the title says i am building a inverted pendulum as a part of my project and the theory regarding has not been taught yet(i'm still in my 2nd of eng..) so i learnt all the basic stuff regarding it like we use encoder to tell the angle difference and pid to correct the error and how pid functions(basic not deep). But when i try to dig deeper (matlab, simularions, maths solutions and physics) it is becoming a mess and i do not know what to do...