A dataset of robustness analysis of dual-impact control of inverted-pendulum walking

The fixed-point matrices contain the following information: the first column indicates the surface slope, followed by the stance-leg angle, stance-leg angular velocity, swing-leg angle, and swing-leg angular velocity.For the first dual-impact control scenario, the data include the stable controller gains and the results of the single step-up and step-down disturbance tests.In addition, the basin-of-attraction data at two different walking speeds are provided.