ResearchBenchmarksSTL Task Control on stlfrag 2STL Task Control on stlfrag 2Follow0.09Total Computation Time (s)PPC-0.909965.8397712.589519.33923Jul 8, 2026Evaluation resultsMethodMethodLinksTotal Computation Time (s)Offline Tube Synthesis Time (s)Online Control Synthesis Time (s)PPC2026.070.09——STT2026.070.1560.1510.005MILP2026.072.06——PINSTT2026.072.4092.4070.002MPC2026.072.424——CBF2026.0725.089——