Martin Fowler was probably one of the first in the “modern sense,” but he denies that he coined the term. In fact, he refers to a previous use of the term, even if before it was not a “single term”.
See http://martinfowler.com/bliki/InversionOfControl.html
One of the oldest is probably Apache Avalon, which was used as a container in many infrastructures such as Cocoon in 2004/2005.
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