Pith Number

pith:56DPYZDW

pith:2026:56DPYZDWZMVBMJOPEQYVOUZHBY

not attested not anchored not stored refs pending

Region of Attraction Estimation for Linear Quadratic Regulator, Linear and Robust Model Predictive Control on a Two-Wheeled Inverted Pendulum

Alvaro Detailleur, Dalim Wahby, Guillaume Ducard, Lorenzo Fici, Matthieu Barreau

A Lyapunov-derived invariant set combined with Monte Carlo sampling estimates the region of attraction for three controllers on a two-wheeled inverted pendulum.

arxiv:2604.04455 v2 · 2026-04-06 · eess.SY · cs.SY

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\usepackage{pith}
\pithnumber{56DPYZDWZMVBMJOPEQYVOUZHBY}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

The proposed methodology combines analytical guarantees with data-driven estimation, providing both a formally certified inner bound and an empirical characterization of the RoA, offering a practical way to evaluate controller performance without relying solely on conservative analytical bounds or purely empirical simulation.

C2weakest assumption

That the chosen Lyapunov function yields a valid invariant set for the closed-loop nonlinear system and that Monte Carlo sampling adequately captures the true boundary of the RoA beyond the certified inner set.

C3one line summary

A Lyapunov invariant set supplies a certified inner RoA bound for TWIP controllers, augmented by Monte Carlo sampling for a fuller empirical characterization.

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-05-21T01:04:25.370193Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ef86fc6476cb2a1625cf24315753270e17d4b6249b305e8428f4e091e2bf6b92

Aliases

arxiv: 2604.04455 · arxiv_version: 2604.04455v2 · doi: 10.48550/arxiv.2604.04455 · pith_short_12: 56DPYZDWZMVB · pith_short_16: 56DPYZDWZMVBMJOP · pith_short_8: 56DPYZDW

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/56DPYZDWZMVBMJOPEQYVOUZHBY \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: ef86fc6476cb2a1625cf24315753270e17d4b6249b305e8428f4e091e2bf6b92

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "0daef31014b2ef8b7140b71a01f3fb404f3dfe362c47f2bd6f89ba1ec4fb11b3",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2026-04-06T06:03:18Z",
    "title_canon_sha256": "70509737d70b766a1105745f123fe7a62c569311b8dd7984be0811aea89ab806"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.04455",
    "kind": "arxiv",
    "version": 2
  }
}