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cannot control the pendulum

hello!
Did you successfully complete the control of the inverted pendulum?

iteration:  0  cost: 46906.8821282
iteration:  1  cost: 39965.4489433
iteration:  2  cost: 44619.0937448
iteration:  3  cost: 39615.7513945
iteration:  4  cost: 44339.6326178
iteration:  5  cost: 39556.862434
iteration:  6  cost: 44327.1138424
iteration:  7  cost: 39559.1609379
iteration:  8  cost: 44328.4758652
iteration:  9  cost: 39560.1271501
iteration:  10  cost: 44328.7161597
iteration:  11  cost: 39561.0841868
iteration:  12  cost: 44327.69723
iteration:  13  cost: 39561.4823859
iteration:  14  cost: 44331.4920414
iteration:  15  cost: 39559.2656203
iteration:  16  cost: 44327.5352405
iteration:  17  cost: 39561.163429
iteration:  18  cost: 44328.2883172
iteration:  19  cost: 39563.1459986
iteration:  20  cost: 44328.9058601
iteration:  21  cost: 39561.4135418
iteration:  22  cost: 44333.5054892
iteration:  23  cost: 39557.5357438
iteration:  24  cost: 44330.0401133
iteration:  25  cost: 39565.0163919
iteration:  26  cost: 44330.2156543
iteration:  27  cost: 39559.3820782
iteration:  28  cost: 44327.5159278
iteration:  29  cost: 39558.5928071
iteration:  30  cost: 44331.9625728
iteration:  31  cost: 39559.775944
iteration:  32  cost: 44324.5068705
iteration:  33  cost: 39559.9322083
iteration:  34  cost: 44328.0646829
iteration:  35  cost: 39560.7580598
iteration:  36  cost: 44332.6083168
iteration:  37  cost: 39564.2807349
iteration:  38  cost: 44329.03292
iteration:  39  cost: 39556.5351339

the costs of 40 iterations are listed above. it seems that the code did not converge.

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