arxiveess.SYcs.ROmath.OC2026-06-26
Reachability Guarantees for Cart-Pole Swing-Up and Stabilization
The cart-pole swing-up is a canonical benchmark for nonlinear control of underactuated systems, yet an end-to-end guarantee linking the global swing-up maneuver to the local stabilizer is seldom formalized. We present a reachability analysis of a switched energy-based/LQR control…