Implicit Predecessor-Based Region of Attraction Estimation and Robust Invariance Analysis for a Two-Wheeled Inverted Pendulum
The work combines a certified Lyapunov set with an implicit predecessor expansion to create a less conservative estimate of the Region of Attraction (RoA) for a nonlinear two-wheeled inverted pendulum. This method enlarges the initial certified region while maintaining formal stability guarantees. Furthermore, it provides formal robustness guarantees against bounded input disturbances.