diff --git a/210983/README.md b/210983/README.md
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+# Steps Followed
+1). Made the cartpole environment using gym.  
+2). Implemented a basic pid control for the output(theta).  
+3). The desired value of the output is zero, so the error is the value of theta.  
+4). Calculated the integral by adding values of theta on every iteration.  
+5). The derivative was given to us by the env observation(angular velocity).  
+6). Tuned the PID coefficients by hit and trial.  
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diff --git a/210983/main.py b/210983/main.py
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+import gym
+
+env = gym.make('CartPole-v1')
+observation = env.reset()
+
+Kp = 10;
+Kd = 12;
+Ki = 4;
+F = 0
+integral = 0
+force = 0;
+
+for _ in range(1000):
+    env.render()
+    observation, reward, done , info = env.step(force)
+    theta = observation[2]
+    angular_vel = observation[3]
+
+    integral += theta
+    F = Kp*theta + Ki*integral + Kd*angular_vel
+
+    if F > 0:
+        force = 1
+    else:
+        force = 0
+
+    print(force)        
+
+    if done:
+        observation = env.reset()
+        integral = 0
+
+env.close()
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