Lyapunov Design for Safe Reinforcement Learning
Theodore J. Perkins and Andrew G. Barto

@article{3:32,author={Theodore J. Perkins and Andrew G. Barto}, Title={Lyapunov Design for Safe Reinforcement Learning},journal={Journal of Machine Learning Research},volume={3}, url={http://www.jmlr.org/papers/volume3/marx02a/marx02a.pdf}}