@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}
}
