ResearchBenchmarksSTL Task Control on stlfrag 1STL Task Control on stlfrag 1Follow0.076Total Computation Time (s)PPC-4.4635226.1782456.8287.46176Jul 8, 2026Evaluation resultsMethodMethodLinksTotal Computation Time (s)Offline Tube Synthesis Time (s)Online Control Synthesis Time (s)PPC2026.070.076——STT2026.070.4140.2510.163MPC2026.071.936——MILP2026.071.941——PINSTT2026.073.7163.7140.002CBF2026.07113.564——