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Time optimal swing-up of the planar pendulum

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3 Author(s)
Mason, P. ; Nancy-Univ., Vandoeuvre-les-Nancy ; Broucke, M.E. ; Piccoli, B.

This paper presents results on the global structure of the time optimal trajectories of the planar pendulum on a cart. Relying on the geometric theory of time optimal synthesis, we provide a discontinuous feedback giving optimal solutions for any initial data.

Published in:

Decision and Control, 2007 46th IEEE Conference on

Date of Conference:

12-14 Dec. 2007