Embedded Optimal Control of Robot Manipulators with Passive Joints

Table 3

Results for the swing-up maneuver for the Acrobot with brake: [s].

Method	Minimum energy [J]	Resolution time [s]	Sequence of modes	Switching times [s]
EOC	113.027	20.2848	(0, 1, 0, 1, 0, 1)
				MMIOC	113.968	32.137628	(1, 0, 1, 0, 1)