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We address the long-standing problem of computing the region of attraction (ROA) of a target set (typically a neighborhood of an equilibrium point) of a controlled nonlinear system with polynomial dynamics and semialgebraic state and input constraints. We show that the ROA can be computed by solving a convex linear programming (LP) problem over the space of… (More)

In a previous work we developed a convex infinite dimensional linear programming (LP) approach to approximating the region of attraction (ROA) of polynomial dynamical systems subject to compact basic semialgebraic state constraints. Finite dimensional relaxations to the infinite-dimensional LP lead to a truncated moment problem in the primal and a… (More)

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We characterize the maximum controlled invariant (MCI) set for discrete-as well as continuous-time nonlinear dynamical systems as the solution of an infinite-dimensional linear programming problem. For systems with polynomial dynamics and compact semialgebraic state and control constraints, we describe a hierarchy of finite-dimensional linear matrix… (More)

— This paper considers linear discrete-time systems with additive bounded disturbances subject to hard control input bounds and a stochastic requirement on the number of state-constraint violations averaged over time. This specification facilitates the exploitation of the information on the number of past constraint violations, and consequently enables a… (More)

This paper considers linear discrete-time systems with additive, bounded, disturbances subject to hard control input bounds and a stochastic constraint on the amount of state-constraint violation averaged over time. The amount of violations is quantified by a loss function and the averaging can be weighted, corresponding to exponential forgetting of past… (More)

— We investigate the turnpike and dissipativity properties of continuous-time optimal control problems. These properties play a key role in the analysis and design of schemes for dynamic real-time optimization and economic model predictive control. We show in a continuous-time setting that dissipativity of a system with respect to a steady state implies the… (More)

— This paper proposes a stability verification method for systems controlled by an early terminated first-order method (e.g., an MPC problem approximately solved by a fixed number of iterations of the fast gradient method). The method is based on the observation that each step of the vast majority of first-order methods is characterized by a… (More)

This paper deals with the finite horizon stochastic optimal control problem with the expectation of the p-norm as the objective function and jointly Gaussian, although not necessarily independent, additive disturbance process. We develop an approximation strategy that solves the problem in a certain class of nonlinear feedback policies while ensuring… (More)

This work considers the infinite-time discounted optimal control problem for continuous time input-affine polynomial dynamical systems subject to polynomial state and box input constraints. We propose a sequence of sum-of-squares (SOS) approximations of this problem obtained by first lifting the original problem into the space of measures with continuous… (More)