We are in the same boat I have atleast a few moments each night where I realize that I am dreaming, but I rarely maintain it.
(Perhaps not FULLY aware of the fact that I am sleeping, that dream characters aren't real, that I have control, but atleast that it is a dream.)
It begs the question is if you can call this lucidity at all, let's just call it a big burst of awareness in a dream.
But anyway the problem is just full awareness.
That's the difficult part I have perhaps 1 lucid dream each month that feels like 20 min and a few here and there that feels like 5-10 min.
In the beggining I was discouraged because of this, because well lucid dreaming wasn't as enjoyable as I thought, at first.
What I currently use to make these dreams stable and try to master, is dream chaining.
Each time you wake up you increase the critical thinking and when you fall asleep again you increase the realism of the dream because of the two systems of the brain called:
Aminergic and Cholinergic system: Lucid Dream Technique - Brain Chemistry - YouTube
Perhaps that is one of the reasons to why the WBTB is so effective?
And I now found the dreams more realistic and controlable. Waking up and chaining might seem a little risky.
But you got to risk it to get the biscuit. 
It's also important for you to set your intent to ground yourself with the dream as soon as you find yourself in it, this can be done simply by screaming "I am dreaming!" as loud as you can or whatever way you find best. I like screaming and acrobatics, so yeah I "look" kind of silly when I ground myself in my dreams. ^-^
By grounding I mean, to connect yourself to the dream, but especially to your dream body. It is something that is easy to overlook because you just assume that you will be in control of it. But have you ever wondered why dreams are sometimes like movies? Well the answer is that because you just experience the dream body as an observer and might not be grounded and feel in control like you do in the physical reality. So if you want control of the dream and not make the dream control your experience so to speak, ground yourself in your dream body!
This took me lots of error, reading and time to find. I hope that you'll find a way to make your mind as controlable and reliable as a press on a button of a Playstation 3, well that's my goal anyway. And great progress from your side!
Stay lucid and stay awesome!
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