Algebraic Relaxations and Hardness Results in Polynomial Optimization and Lyapunov Analysis

This thesis settles a number of questions related to computational complexity and algebraic, semidefinite programming based relaxations in optimization and control.Comment: PhD Thesis, MIT, September, 201

Neural Lyapunov Control

We propose new methods for learning control policies and neural network Lyapunov functions for nonlinear control problems, with provable guarantee of stability. The framework consists of a learner that attempts to find the control and Lyapunov functions, and a falsifier that finds counterexamples to quickly guide the learner towards solutions. The procedure terminates when no counterexample is found by the falsifier, in which case the controlled nonlinear system is provably stable. The approach significantly simplifies the process of Lyapunov control design, provides end-to-end correctness guarantee, and can obtain much larger regions of attraction than existing methods such as LQR and SOS/SDP. We show experiments on how the new methods obtain high-quality solutions for challenging control problems.Comment: NeurIPS 201

Lower Bounds on Complexity of Lyapunov Functions for Switched Linear Systems

We show that for any positive integer $d$, there are families of switched linear systems---in fixed dimension and defined by two matrices only---that are stable under arbitrary switching but do not admit (i) a polynomial Lyapunov function of degree $\leq d$, or (ii) a polytopic Lyapunov function with $\leq d$ facets, or (iii) a piecewise quadratic Lyapunov function with $\leq d$ pieces. This implies that there cannot be an upper bound on the size of the linear and semidefinite programs that search for such stability certificates. Several constructive and non-constructive arguments are presented which connect our problem to known (and rather classical) results in the literature regarding the finiteness conjecture, undecidability, and non-algebraicity of the joint spectral radius. In particular, we show that existence of an extremal piecewise algebraic Lyapunov function implies the finiteness property of the optimal product, generalizing a result of Lagarias and Wang. As a corollary, we prove that the finiteness property holds for sets of matrices with an extremal Lyapunov function belonging to some of the most popular function classes in controls

Propensity Score Analysis with Matching Weights

The propensity score analysis is one of the most widely used methods for studying the causal treatment effect in observational studies. This paper studies treatment effect estimation with the method of matching weights. This method resembles propensity score matching but offers a number of new features including efficient estimation, rigorous variance calculation, simple asymptotics, statistical tests of balance, clearly identified target population with optimal sampling property, and no need for choosing matching algorithm and caliper size. In addition, we propose the mirror histogram as a useful tool for graphically displaying balance. The method also shares some features of the inverse probability weighting methods, but the computation remains stable when the propensity scores approach 0 or 1. An augmented version of the matching weight estimator is developed that has the double robust property, i.e., the estimator is consistent if either the outcome model or the propensity score model is correct. In the numerical studies, the proposed methods demonstrated better performance than many widely used propensity score analysis methods such as stratification by quintiles, matching with propensity scores, and inverse probability weighting