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YaChienChang / Neural-Lyapunov-Control

Learning Lyapunov functions and control policies of nonlinear dynamical systems
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Question about x0 #3

Closed SHITIANYU-hue closed 3 years ago

SHITIANYU-hue commented 3 years ago

The x0 in the paper should be the stable point, or target point, why in the code it is: x_0 = torch.zeros([1, 2])?

YaChienChang commented 3 years ago

Hi, The origin is the stable point in all examples of the paper, so x_0 = torch.zeros([1, 2]). For applying this method to other examples, you can transform the stable point to the origin for learning Lyapunov functions.