How can I master mathematical modeling for control systems engineering?

I have read many books there i have studied mathematical modeling they all give simple problems to practice.But what about special cases for example i want to yze an inverted pendulum system. Books don't have it as an example but it is treated as a special case. In engineering, i won't be having every case present in book so how will i yze them? Are there any books/websites that can develop this skill in me so that i can derive mathematical model of any complex system? thanks