Level sets and non Gaussian integrals of positively homogeneous functions

We investigate various properties of the sublevel set $\{x \,:\,g(x)\leq 1\}$ and the integration of $h$ on this sublevel set when $g$ and $h$are positively homogeneous functions. For instance, the latter integral reduces to integrating $h\exp(-g)$ on the whole space $R^n$ (a non Gaussian integral) and when $g$ is a polynomial, then the volume of the sublevel set is a convex function of the coefficients of $g$. In fact, whenever $h$ is nonnegative, the functional $\int \phi(g(x))h(x)dx$ is a convex function of $g$ for a large class of functions $\phi:R_+\to R$. We also provide a numerical approximation scheme to compute the volume or integrate $h$ (or, equivalently to approximate the associated non Gaussian integral). We also show that finding the sublevel set $\{x \,:\,g(x)\leq 1\}$ of minimum volume that contains some given subset $K$ is a (hard) convex optimization problem for which we also propose two convergent numerical schemes. Finally, we provide a Gaussian-like property of non Gaussian integrals for homogeneous polynomials that are sums of squares and critical points of a specific function

Minimizing Cubic and Homogeneous Polynomials over Integers in the Plane

We complete the complexity classification by degree of minimizing a polynomial over the integer points in a polyhedron in $\mathbb{R}^2$. Previous work shows that optimizing a quadratic polynomial over the integer points in a polyhedral region in $\mathbb{R}^2$ can be done in polynomial time, while optimizing a quartic polynomial in the same type of region is NP-hard. We close the gap by showing that this problem can be solved in polynomial time for cubic polynomials. Furthermore, we show that the problem of minimizing a homogeneous polynomial of any fixed degree over the integer points in a bounded polyhedron in $\mathbb{R}^2$ is solvable in polynomial time. We show that this holds for polynomials that can be translated into homogeneous polynomials, even when the translation vector is unknown. We demonstrate that such problems in the unbounded case can have smallest optimal solutions of exponential size in the size of the input, thus requiring a compact representation of solutions for a general polynomial time algorithm for the unbounded case

Simple Approximations of Semialgebraic Sets and their Applications to Control

Many uncertainty sets encountered in control systems analysis and design can be expressed in terms of semialgebraic sets, that is as the intersection of sets described by means of polynomial inequalities. Important examples are for instance the solution set of linear matrix inequalities or the Schur/Hurwitz stability domains. These sets often have very complicated shapes (non-convex, and even non-connected), which renders very difficult their manipulation. It is therefore of considerable importance to find simple-enough approximations of these sets, able to capture their main characteristics while maintaining a low level of complexity. For these reasons, in the past years several convex approximations, based for instance on hyperrect-angles, polytopes, or ellipsoids have been proposed. In this work, we move a step further, and propose possibly non-convex approximations , based on a small volume polynomial superlevel set of a single positive polynomial of given degree. We show how these sets can be easily approximated by minimizing the L1 norm of the polynomial over the semialgebraic set, subject to positivity constraints. Intuitively, this corresponds to the trace minimization heuristic commonly encounter in minimum volume ellipsoid problems. From a computational viewpoint, we design a hierarchy of linear matrix inequality problems to generate these approximations, and we provide theoretically rigorous convergence results, in the sense that the hierarchy of outer approximations converges in volume (or, equivalently, almost everywhere and almost uniformly) to the original set. Two main applications of the proposed approach are considered. The first one aims at reconstruction/approximation of sets from a finite number of samples. In the second one, we show how the concept of polynomial superlevel set can be used to generate samples uniformly distributed on a given semialgebraic set. The efficiency of the proposed approach is demonstrated by different numerical examples

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