1. Core measurable variables

Settling time
Overshoot (%)
Control loop latency
Oscillation amplitude
Recovery time
Thermal load stability

2. Test scenarios

A — Controlled disturbance
Simulated noisy joystick input

B — Terrain disturbance
Gravel, slope, friction change

C — Failure mode
Sensor dropout
Controller lag
Power fluctuation

3. Success criteria

System remains:

• Steerable
• Predictable
• Non-violent

Stability must degrade gradually — not collapse.

If stability cannot be measured,
it cannot be claimed.