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Pavel Osinenko

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Preprint Oct 2026

Continuous-Time Critic as a Lyapunov Function: Projected Adaptation and Cart-Pole Stabilization

We study adaptive stabilization of known control-affine systems by treating the current parameterized critic itself as a Lyapunov candidate. Its total derivative contains a parameter-velocity term that can compensate unfavorable state evolution. A projection onto the intersection of a bounded admissible velocity set an...

Pavel Osinenko · 0 citations

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