@article {2007, title = {Time optimal swing-up of the planar pendulum}, journal = {46th IEEE Conference on Decision and Control (2007) 5389 - 5394}, number = {SISSA;50/2006/M}, year = {2007}, abstract = {This paper presents qualitative and numerical results on the global structure of the time optimal trajectories of the planar pendulum on a cart.}, doi = {10.1109/CDC.2007.4434688}, url = {http://hdl.handle.net/1963/1867}, author = {Mireille E. Broucke and Paolo Mason and Benedetto Piccoli} }