I think ive found a way for you to stay in your dreams if you have a problem like i do and you just "pop" out of them. sorry if this has been posted before, if it has ignore this. Anyway, it seems that whenever in a lucid dream im not doing much and not very interested in whatever im doing, i just wake up really suddenly and get frustrated. Recently, ive been having lucid dreams where im engaged in sex, and im really focused on it. Then i wake up and realize ive been in that dream for at least 20 min when usually im in it for three! I think wow, i couldve been doing other stuff than just having sex, but i think the point is to just stay engaged in whatever you're doing and ill bet your lucids will last longer. Let me know what you think.