Within the specified time limit, the strategy determines and implements an optimal feed-forward control sequence to the system, swings up the double inverted pendulum from its hanging position, and achieves zero speed state at the upright position.

• 该策略通过在规定的时间内向系统施加一前馈控制序列，使上、下摆杆从自然悬垂位置摆到倒立点位置并使速度为零。