Analyzing for Lyapunov stability with adaptive critics

We propose an approach to analyze trained neurocontrollers numerically for achieving Lyapunov stability of the closed-loop system. Our approach is based on training an adaptive critic to approximate a Lyapunov function. The trained critic is analyzed numerically to establish regions of stability of the closed-loop system. A simple example illustrates our approach. Our setting is the most relevant for neurocontrollers, but conclusions are applicable to other forms of controllers as well