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Region of Attraction Estimation for Linear Quadratic Regulator, Linear and Robust Model Predictive Control on a Two-Wheeled Inverted Pendulum
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 the closed-loop system converges to the equilibrium. The RoA of nonlinear and constrained systems is generally nonconvex
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