Certificate scope: deterministic nominal linear 20 ms model only
No robustness/chance coverage/nonlinear-plant certification is claimed.
Terminal facets = 138; stopping power = 33
Maximum LP facet support under A-BK = 1.0000000000000004
Closed-loop spectral radius = 0.9750586220431833
Terminal decrease matrix residual (Inf norm) = 5.042693373980001e-9
Planning bounds: p=0.75 m, angle=0.19198621771937624 rad, force=9.5 N
Physical evaluation bounds: 0.8 m, 12 degrees, 10 N
Controller: nominal certainty-equivalent linear MPC, N=50, Q on position/absolute pole angles/velocities; HiGHS terminal support tolerance 3e-6, R=0.2
