Lorenzo Fici

Implicit Predecessor-Based Region of Attraction Estimation and Robust Invariance Analysis for a Two-Wheeled Inverted Pendulum

Lorenzo Fici, Guillaume Ducard

Estimating the region of attraction (RoA) of nonlinear systems is fundamental for assessing closed-loop stability and ensuring safe operation. While Lyapunov-based approaches provide certified stability guarantees, they often yield conservative inner approximations of the RoA. Th…Read more