Generally the inverted pendulum system is modeled as a linear system, and hence the modeling is valid only for small oscillations of the pendulum. 通常倒立摆系统建模成一个线形系统，因此模型只对小幅度摆动的摆才有效。
The algorithm revises the reinforcement signal and improves the exploration policy to overcome the negative effect of limit cycles in the inverted pendulum system. 算法采用修正强化信号和改进探索策略的方法克服极限环对倒立摆系统的影响。
