diff --git a/controls/cartpole.py b/controls/cartpole.py
new file mode 100644
index 0000000..726bdc2
--- /dev/null
+++ b/controls/cartpole.py
@@ -0,0 +1,34 @@
+import gym
+
+env = gym.make("CartPole-v1")
+observation = env.reset()
+
+P = 9.8
+I = 4.0
+D = 4.0
+
+force = 0
+integral = 0
+for _ in range(400):
+
+  env.render()
+  observe, reward, done, info = env.step(force)
+
+  velocity = observe[1]
+  angle = observe[2]
+  angular_velocity = observe[3]
+
+  integral = integral + angle
+
+  F = P*(angle)  + I*(integral)+ D*(angular_velocity)
+
+  force = 1
+  if F > 0:
+      force = 1
+  else :
+      force=0
+  if done:
+    observe = env.reset()
+    integral = 0
+
+env.close()
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diff --git a/controls/readme.md b/controls/readme.md
new file mode 100644
index 0000000..a17bd3b
--- /dev/null
+++ b/controls/readme.md
@@ -0,0 +1,5 @@
+assignement 4
+1) Installed pip from terminal.
+2) Installed gym and pygame packages from terminal using pip.
+3) Create an environment using env and import cartpole model.
+4) Use that kp is multiplied by error (angle), ki is multiplied by the sum of errors and kd is multiplied by the angular velocity.
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