Skip to content

Robust estimations of the Region of Attraction using invariant sets

Research output: Contribution to journalArticle

Original languageEnglish
Pages (from-to)4622-4647
Number of pages26
JournalJournal of the Franklin Institute
Issue number8
Early online date15 Feb 2019
DateAccepted/In press - 4 Feb 2019
DateE-pub ahead of print - 15 Feb 2019
DatePublished (current) - 1 May 2019


The Region of Attraction of an equilibrium point is the set of initial conditions whose trajectories converge to it asymptotically. This article, building on a recent work on positively invariant sets, deals with inner estimates of the ROA of polynomial nonlinear dynamics. The problem is solved numerically by means of Sum Of Squares relaxations, which allow set containment conditions to be enforced. Numerical issues related to the ensuing optimization are discussed and strategies to tackle them are proposed. These range from the adoption of different iterative methods to the reduction of the polynomial variables involved in the optimization. The main contribution of the work is an algorithm to perform the ROA calculation for systems subject to modeling uncertainties, and its applicability is showcased with two case studies of increasing complexity. Results, for both nominal and uncertain systems, are compared with a standard algorithm from the literature based on Lyapunov function level sets. They confirm the advantages in adopting the invariant sets approach, and show that as the size of the system and the number of uncertainty increase, the proposed heuristics ameliorate the commented numerical issues.

    Research areas

  • Region of attraction, Local analysis, Uncertainties, Sum of squares, Nonlinear dynamics, Robust analysis

Download statistics

No data available



  • Full-text PDF (author accepted manuscript)

    Rights statement: This is the author accepted manuscript (AAM). The final published version (version of record) is available online via Elsevier at . Please refer to any applicable terms of use of the publisher.

    Accepted author manuscript, 704 KB, PDF document

    Licence: CC BY-NC-ND


View research connections

Related faculties, schools or groups