Stabilization of the Belgian Chocolate System via Low-order Controllers

This paper considers the challenging Belgian chocolate stabilization problem posed by V.Blondel. Based on the recent development in automated inequality-type theorem proving, the exact upper bounds for δ which guarantee the existence of bistable stabilizers with order no more than four have been determined. By a suitable perturbation of the obtained stabilizable conditions, a numerical example of fourth-order controller is found, which improves the maximal value of δ proposed in the literature.