To stay lucid longer all you need to do is stabilise the dream when you become lucid and when you feel it fading. For different people, different techniques work. A few techniques to stabilise would be to spin around with your eyes closed and when you open them you imagine the dream is stabilised again. Or You can rub your hands against walls or the landscape. As I said some people battle with the techniques that work for others. E.g. Some people who spin with their eyes closed will wake up because of closing their eyes. Anyway just experiment and see what works for you and welcome I hope you master dream control