IoC container concept in PHP

I'm trying to grasp the concept of IoC and Dependency Injection in PHP, So iv'e decided to go on and create a small framework and implement these design patterns.

i've created my own IoC class which you can find here http://ift.tt/1EXYLJy

And i feed my configs like this to the IoC container at run time

 // --- Main Application
    [
        'name'      =>  'Application',
        'service'   =>  [
            'type'      =>  'constructor',
            'class'     =>  'Pebbles\Core\Application',
            'params'    =>  [
                'router'    =>  '*AltoRouter',
                'request'   =>  '*Request',
                'IoC'       =>  '*IoC'
            ],
            'call'      => [
                [
                    'method'    =>  'setRoutes',
                    'args'      =>  [$routes]
                ]
            ]
        ],
        'lazy'      =>  FALSE
    ]

And the IoC class handle the dependency injection and initiliaztion.

By doing this i got my head around what actually IoC does and why is it important.

Here is how my front controller looks like :

// read $params from config file and pass it to IoC
$container = new \Pebbles\Core\IoC($params);
$container->getService('Application')->setEnvironment('dev')->run();

And this is the my Application class :

namespace Pebbles\Core;
use Symfony\Component\HttpFoundation\Request;
class Application
{
    protected $request;
    protected $router;
    protected $container;
    protected $environment;
    public function __construct(\AltoRouter $router, Request $request, IoC $container)
    {
        $this->request = $request;
        $this->router = $router;
        $this->container = $container;
    }
    public function setEnvironment($env)
    {
        $this->environment = $env;
        return $this;
    }
    public function run()
    {
        $match = $this->router->match();
        if ($match) {
            list ($controller, $action) = explode(':', $match['target']);
            $object = & $this->container->getService($controller);
            try {
                call_user_func_array([$object, $action], $match['params']);
            } catch (Exception $e) {
                echo $e->getMessage();
            }
        }
    }

But now i'm struggeling how to move forward from this point. Do i have to create a config file for all of controllers and services i'm going to use in this project and feed them to IoC (lazy) ? I mean if i'm going to have a bookingController, i have to create a config file for that and feed it to container in order to be able to use and route request to it.

but what if i have like 20 controller and 10 services ? is it still the right approach ? i'm not sure about that bit that injected the IoC itself to Application class, but how else can i route requests if i don't have access to IoC container.

Am i making mistake in implementing IoC desgin pattern ?

Here is the github link to what my actual code looks like http://ift.tt/1K9EZrl