ResearchBenchmarksSTL Task Control on stlcg 1STL Task Control on stlcg 1Follow8.068Total Computation Time (s)PINSTT1.129447.9649594.8005141.63605Jul 8, 2026Evaluation resultsMethodMethodLinksTotal Computation Time (s)Offline Tube Synthesis Time (s)Online Control Synthesis Time (s)PINSTT2026.078.0688.0660.002STT2026.0728.50428.4790.025MPC2026.0744.532——MILP2026.0751.533——CBF2026.07181.533——