Is this even a good idea? I've had lucid dreams (not by intention) a few times but mostly I thought dreaming was a GC process for your brain, so trying to constrain or control it could interfere with its function.
What is for certain: even in lucid dreams, physiologically you are still asleep, and in genuine REM sleep. So in that sense it should provide the exact same restorative and cognitive benefits. It's just that several brain regions associated with self awareness, metacognition, attention, and cognitive control show increased activity.
So taking that into account, I would argue lucid dreaming only has net benefits, if you value those metacognitive features.