Sum of Squares Approach for Nonlinear <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-4.3443pt" id="M1" height="15.4164pt" version="1.1" viewBox="-0.0657574 -11.0721 26.4981 15.4164" width="26.4981pt"><g transform="matrix(.017,0,0,-0.017,0,0)"><path id="g121-70" d="M729 650H468V622C546 615 554 610 554 527V365H213V527C213 610 221 616 297 622V650H38V622C120 616 128 611 128 527V123C128 39 120 34 40 28V0H303V28C221 34 213 40 213 123V322H554V123C554 39 546 34 460 28V0H728V28C647 34 639 39 639 123V527C639 610 647 615 729 622V650Z"/></g><g transform="matrix(.012,0,0,-0.012,13.145,4.134)"><path id="g50-30" d="M1000 227C1000 351 905 451 780 451C658 451 590 380 530 279C465 385 388 451 261 451C168 451 38 376 38 210C38 98 121 -12 261 -12C381 -12 448 59 508 160C573 53 652 -12 780 -12C879 -12 1000 64 1000 227ZM485 199C434 109 370 25 271 25C188 25 133 117 133 241C133 355 189 414 249 414C357 414 426 302 485 199ZM903 204C903 70 852 25 790 25C681 25 611 136 552 240C603 330 669 414 768 414C855 414 903 321 903 204Z"/></g></svg> Control

<div>Singular value of linearized system. 1—<span class="nowrap"><svg height="12.7882pt" id="M168" style="vertical-align:-3.382461pt" version="1.1" viewbox="-0.0498162 -9.40574 35.3844 12.7882" width="35.3844pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><rect height="0.65243" width="7.37255" x="0" y="-8.70349"></rect><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M548 455L523 469C505 448 490 439 461 439C416 439 374 447 316 447C144 447 23 310 23 161C23 47 89 -12 179 -12C312 -12 429 106 429 244C429 303 419 344 368 386L371 388C404 383 440 378 474 378C507 378 530 411 548 455ZM350 274C350 191 308 25 198 25C144 25 108 75 108 157C108 264 170 395 276 395C296 395 320 384 333 360C347 334 350 316 350 274Z"></path></g><g transform="matrix(.013,0,0,-0.013,7.373,0)"><path d="M290 -163V-135C183 -126 181 -122 181 -44V583C181 662 184 666 290 675V703H120V-163H290Z"></path></g><g transform="matrix(.013,0,0,-0.013,11.858,0)"><path d="M620 675H597C578 656 570 650 541 650H144C112 650 104 653 94 675H72C59 618 42 552 23 493L53 491C71 534 88 564 105 585C124 608 144 615 238 615H290L197 121C182 40 174 34 88 28L82 0H361L367 28C275 34 266 38 281 121L374 615H441C522 615 543 608 553 583C562 560 566 531 565 493L597 494C603 551 612 629 620 675Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,19.034,3.132)"><path d="M481 445L456 468C426 437 403 427 388 427C372 427 356 428 302 438C256 447 221 451 187 451C159 451 130 428 105 384C93 363 80 340 65 305L96 290C122 342 149 381 193 381C216 381 267 377 294 374S346 372 365 376L75 105C37 70 24 35 24 16C24 2 30 -5 35 -8C42 -8 46 -6 48 -2C58 14 75 35 90 41C102 46 116 46 147 32C200 8 267 -21 298 -21C347 -21 390 12 448 126L420 151C369 77 338 56 311 56C287 56 249 68 212 81C180 92 149 100 127 98C212 172 353 308 413 372L481 445Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,23.63,3.132)"><path d="M698 334C698 397 680 451 655 451C627 451 602 424 602 397C602 389 605 383 614 371C622 360 624 340 624 317C624 161 546 47 458 47C419 47 389 69 389 125C389 142 391 162 397 185L457 430L451 435L380 421L315 164C301 107 266 47 222 47C182 47 153 69 153 126C153 137 157 162 161 185C166 214 179 265 197 334C203 358 208 385 208 407C208 433 201 451 176 451C124 451 64 404 24 348L44 320C86 366 113 382 121 382C126 382 128 381 128 374C128 368 126 356 122 341C102 266 88 204 81 164C77 143 73 121 73 107C73 23 131 -12 187 -12C234 -12 281 10 322 45C343 5 383 -12 422 -12C559 -12 698 174 698 334Z"></path></g><g transform="matrix(.013,0,0,-0.013,30.739,0)"><path d="M226 -163V703H56V676C162 667 165 662 165 584V-43C165 -122 162 -126 56 -136V-163H226Z"></path></g></svg>;</span> 2—<span class="nowrap"><svg height="14.5707pt" id="M169" style="vertical-align:-5.28237pt" version="1.1" viewbox="-0.0498162 -9.28833 30.1319 14.5707" width="30.1319pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M162 -163V703H101V-163H162Z"></path></g><g transform="matrix(.013,0,0,-0.013,3.419,0)"><path d="M620 675H597C578 656 570 650 541 650H144C112 650 104 653 94 675H72C59 618 42 552 23 493L53 491C71 534 88 564 105 585C124 608 144 615 238 615H290L197 121C182 40 174 34 88 28L82 0H361L367 28C275 34 266 38 281 121L374 615H441C522 615 543 608 553 583C562 560 566 531 565 493L597 494C603 551 612 629 620 675Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,10.595,3.132)"><path d="M545 403C545 425 527 451 498 451C448 451 400 404 312 286L290 341C262 412 246 451 219 451C182 451 138 404 92 345L112 323C152 368 169 378 181 378C192 378 201 359 216 321L257 214C184 115 142 69 113 69C102 69 93 73 88 79S78 89 68 89C47 89 24 61 24 40C24 8 49 -12 75 -12C125 -12 175 31 271 175L312 64C330 15 357 -12 382 -12C421 -12 475 35 515 98L496 121C466 88 439 62 420 62C402 62 384 92 363 147L325 247C349 280 374 309 397 333C422 361 446 381 462 381C471 381 481 374 488 366C493 360 499 357 505 357C521 357 545 380 545 403Z"></path></g><g transform="matrix(.0065,0,0,-0.0065,15.727,5.233)"><path d="M394 0V37C301 42 295 50 295 122V635C236 613 178 596 109 583V553L165 551C205 549 209 544 209 495V122C209 50 203 42 111 37V0H394Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,19.449,3.132)"><path d="M698 334C698 397 680 451 655 451C627 451 602 424 602 397C602 389 605 383 614 371C622 360 624 340 624 317C624 161 546 47 458 47C419 47 389 69 389 125C389 142 391 162 397 185L457 430L451 435L380 421L315 164C301 107 266 47 222 47C182 47 153 69 153 126C153 137 157 162 161 185C166 214 179 265 197 334C203 358 208 385 208 407C208 433 201 451 176 451C124 451 64 404 24 348L44 320C86 366 113 382 121 382C126 382 128 381 128 374C128 368 126 356 122 341C102 266 88 204 81 164C77 143 73 121 73 107C73 23 131 -12 187 -12C234 -12 281 10 322 45C343 5 383 -12 422 -12C559 -12 698 174 698 334Z"></path></g><g transform="matrix(.013,0,0,-0.013,26.561,0)"><path d="M162 -163V703H101V-163H162Z"></path></g></svg>;</span> 3—<span class="nowrap"><svg height="12.5794pt" id="M170" style="vertical-align:-3.29107pt" version="1.1" viewbox="-0.0498162 -9.28833 26.3011 12.5794" width="26.3011pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M162 -163V703H101V-163H162Z"></path></g><g transform="matrix(.013,0,0,-0.013,3.419,0)"><path d="M620 675H597C578 656 570 650 541 650H144C112 650 104 653 94 675H72C59 618 42 552 23 493L53 491C71 534 88 564 105 585C124 608 144 615 238 615H290L197 121C182 40 174 34 88 28L82 0H361L367 28C275 34 266 38 281 121L374 615H441C522 615 543 608 553 583C562 560 566 531 565 493L597 494C603 551 612 629 620 675Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,10.595,3.132)"><path d="M528 97L513 125C484 95 440 68 431 68C425 68 421 76 427 107C449 227 476 342 505 451H495L418 424L385 278C338 191 220 62 157 62C145 62 133 76 145 130L200 368C215 434 210 451 183 451C157 451 92 418 24 352L37 324C78 356 106 377 115 377C123 377 122 364 116 340L64 115C58 89 56 68 56 52C56 2 78 -12 103 -12C127 -12 159 -4 190 18C247 59 309 113 366 187H368L351 108C328 1 348 -12 368 -12C403 -12 472 33 528 97Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,15.618,3.132)"><path d="M698 334C698 397 680 451 655 451C627 451 602 424 602 397C602 389 605 383 614 371C622 360 624 340 624 317C624 161 546 47 458 47C419 47 389 69 389 125C389 142 391 162 397 185L457 430L451 435L380 421L315 164C301 107 266 47 222 47C182 47 153 69 153 126C153 137 157 162 161 185C166 214 179 265 197 334C203 358 208 385 208 407C208 433 201 451 176 451C124 451 64 404 24 348L44 320C86 366 113 382 121 382C126 382 128 381 128 374C128 368 126 356 122 341C102 266 88 204 81 164C77 143 73 121 73 107C73 23 131 -12 187 -12C234 -12 281 10 322 45C343 5 383 -12 422 -12C559 -12 698 174 698 334Z"></path></g><g transform="matrix(.013,0,0,-0.013,22.73,0)"><path d="M162 -163V703H101V-163H162Z"></path></g></svg>.</span></div>

Complexity

fig1

Figure 1

Figure 1: Sum of Squares Approach for Nonlinear <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-4.3443pt" id="M1" height="15.4164pt" version="1.1" viewBox="-0.0657574 -11.0721 26.4981 15.4164" width="26.4981pt"><g transform="matrix(.017,0,0,-0.017,0,0)"><path id="g121-70" d="M729 650H468V622C546 615 554 610 554 527V365H213V527C213 610 221 616 297 622V650H38V622C120 616 128 611 128 527V123C128 39 120 34 40 28V0H303V28C221 34 213 40 213 123V322H554V123C554 39 546 34 460 28V0H728V28C647 34 639 39 639 123V527C639 610 647 615 729 622V650Z"/></g><g transform="matrix(.012,0,0,-0.012,13.145,4.134)"><path id="g50-30" d="M1000 227C1000 351 905 451 780 451C658 451 590 380 530 279C465 385 388 451 261 451C168 451 38 376 38 210C38 98 121 -12 261 -12C381 -12 448 59 508 160C573 53 652 -12 780 -12C879 -12 1000 64 1000 227ZM485 199C434 109 370 25 271 25C188 25 133 117 133 241C133 355 189 414 249 414C357 414 426 302 485 199ZM903 204C903 70 852 25 790 25C681 25 611 136 552 240C603 330 669 414 768 414C855 414 903 321 903 204Z"/></g></svg> Control 

Complexity

Sum of Squares Approach for Nonlinear Control

Figure 1