def METHOD_NAME():
    x0 = np.array([
        [0.0],
        [0.0],
        [0.3],
        [0.0]
    ])
    x = np.copy(x0)
    time = 0.0
    while sim_time > time:
        time += delta_t
        # calc control input
        opt_x, opt_delta_x, opt_theta, opt_delta_theta, opt_input = \
            mpc_control(x)
        # get input
        u = opt_input[0]
        # simulate inverted pendulum cart
        x = simulation(x, u)
        if show_animation:
            plt.clf()
            px = float(x[0, 0])
            theta = float(x[2, 0])
            plot_cart(px, theta)
            plt.xlim([-5.0, 2.0])
            plt.pause(0.001)
    print("Finish")
    print(f"x={float(x[0, 0]):.2f} [m] , theta={math.degrees(x[2, 0]):.2f} [deg]")
    if show_animation:
        plt.show()