2 papers
eess.SY2026
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 provi…
eess.SY2026
Region of Attraction Estimation for Linear Quadratic Regulator, Linear and Robust Model Predictive Control on a Two-Wheeled Inverted Pendulum
Lorenzo Fici, Dalim Wahby, Alvaro Detailleur +2
Nonlinear underactuated systems such as two-wheeled inverted pendulums (TWIPs) exhibit a limited region of attraction (RoA), which defines the set of initial conditions from which…