scungao

#x,f,V are all Expressions
def CheckLyapunov(x, f, V, ball_lb, ball_ub, config):   
    # ball = ∑xᵢ², lie_derivative_of_V = ∑fᵢ*∂V/∂xᵢ.  
    ball= Expression(0)
    lie_derivative_of_V = Expression(0)
    for i in range(len(x)):
        ball += x[i]*x[i]
        lie_derivative_of_V += f[i]*V.Differentiate(x[i])
    ball_in_bound = logical_and(ball_lb*ball_lb <= ball, ball <= ball_ub*ball_ub)
    # Constraints: x ∈ Ball → (V(c, x) > 0 ∧ Lie derivative of V <= 0)     

scungao

.27.3....
1......7.
.83.7.24.
.71..5...
.3.....8.
...9..12.
.15.2.49.
.4......8
....1.56.

scungao

#include <iostream>
#include <vector>
#include <assert.h>
#include <chrono>
#include <random>

#include "dreal.h"

using std::chrono::system_clock;
using std::mt19937_64;