Combines a Lyapunov-based certified inner approximation of the region of attraction with Monte Carlo sampling to characterize performance of LQR, linear MPC, and CTMPC on a TWIP.
Quantitative measure for nonlinear unstable systems based on the region of attraction and its application to designing parameter optimization – inverted pendulum example
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Region of Attraction Estimation for Linear Quadratic Regulator, Linear and Robust Model Predictive Control on a Two-Wheeled Inverted Pendulum
Combines a Lyapunov-based certified inner approximation of the region of attraction with Monte Carlo sampling to characterize performance of LQR, linear MPC, and CTMPC on a TWIP.