A Complete Characterization of the Gap between Convexity and SOS-Convexity

Our first contribution in this paper is to prove that three natural sum of squares (sos) based sufficient conditions for convexity of polynomials, via the definition of convexity, its first order characterization, and its second order characterization, are equivalent. These three equivalent algebraic conditions, henceforth referred to as sos-convexity, can be checked by semidefinite programming whereas deciding convexity is NP-hard. If we denote the set of convex and sos-convex polynomials in $n$ variables of degree $d$ with $\tilde{C}_{n,d}$ and $\tilde{\Sigma C}_{n,d}$ respectively, then our main contribution is to prove that $\tilde{C}_{n,d}=\tilde{\Sigma C}_{n,d}$ if and only if $n=1$ or $d=2$ or $(n,d)=(2,4)$. We also present a complete characterization for forms (homogeneous polynomials) except for the case $(n,d)=(3,4)$ which is joint work with G. Blekherman and is to be published elsewhere. Our result states that the set $C_{n,d}$ of convex forms in $n$ variables of degree $d$ equals the set $\Sigma C_{n,d}$ of sos-convex forms if and only if $n=2$ or $d=2$ or $(n,d)=(3,4)$. To prove these results, we present in particular explicit examples of polynomials in $\tilde{C}_{2,6}\setminus\tilde{\Sigma C}_{2,6}$ and $\tilde{C}_{3,4}\setminus\tilde{\Sigma C}_{3,4}$ and forms in $C_{3,6}\setminus\Sigma C_{3,6}$ and $C_{4,4}\setminus\Sigma C_{4,4}$, and a general procedure for constructing forms in $C_{n,d+2}\setminus\Sigma C_{n,d+2}$ from nonnegative but not sos forms in $n$ variables and degree $d$. Although for disparate reasons, the remarkable outcome is that convex polynomials (resp. forms) are sos-convex exactly in cases where nonnegative polynomials (resp. forms) are sums of squares, as characterized by Hilbert.Comment: 25 pages; minor editorial revisions made; formal certificates for computer assisted proofs of the paper added to arXi

The Lax conjecture is true

In 1958 Lax conjectured that hyperbolic polynomials in three variables are determinants of linear combinations of three symmetric matrices. This conjecture is equivalent to a recent observation of Helton and Vinnikov.Comment: 7 pages, Proceedings to the AMS, to appear. Added background materia

Diagonal and Low-Rank Matrix Decompositions, Correlation Matrices, and Ellipsoid Fitting

In this paper we establish links between, and new results for, three problems that are not usually considered together. The first is a matrix decomposition problem that arises in areas such as statistical modeling and signal processing: given a matrix $X$ formed as the sum of an unknown diagonal matrix and an unknown low rank positive semidefinite matrix, decompose $X$ into these constituents. The second problem we consider is to determine the facial structure of the set of correlation matrices, a convex set also known as the elliptope. This convex body, and particularly its facial structure, plays a role in applications from combinatorial optimization to mathematical finance. The third problem is a basic geometric question: given points $v_1,v_2,...,v_n\in \R^k$ (where $n > k$) determine whether there is a centered ellipsoid passing \emph{exactly} through all of the points. We show that in a precise sense these three problems are equivalent. Furthermore we establish a simple sufficient condition on a subspace $U$ that ensures any positive semidefinite matrix $L$ with column space $U$ can be recovered from $D+L$ for any diagonal matrix $D$ using a convex optimization-based heuristic known as minimum trace factor analysis. This result leads to a new understanding of the structure of rank-deficient correlation matrices and a simple condition on a set of points that ensures there is a centered ellipsoid passing through them.Comment: 20 page

Compressed sensing and robust recovery of low rank matrices

In this paper, we focus on compressed sensing and recovery schemes for low-rank matrices, asking under what conditions a low-rank matrix can be sensed and recovered from incomplete, inaccurate, and noisy observations. We consider three schemes, one based on a certain Restricted Isometry Property and two based on directly sensing the row and column space of the matrix. We study their properties in terms of exact recovery in the ideal case, and robustness issues for approximately low-rank matrices and for noisy measurements

Joint Spectral Radius and Path-Complete Graph Lyapunov Functions

We introduce the framework of path-complete graph Lyapunov functions for approximation of the joint spectral radius. The approach is based on the analysis of the underlying switched system via inequalities imposed among multiple Lyapunov functions associated to a labeled directed graph. Inspired by concepts in automata theory and symbolic dynamics, we define a class of graphs called path-complete graphs, and show that any such graph gives rise to a method for proving stability of the switched system. This enables us to derive several asymptotically tight hierarchies of semidefinite programming relaxations that unify and generalize many existing techniques such as common quadratic, common sum of squares, and maximum/minimum-of-quadratics Lyapunov functions. We compare the quality of approximation obtained by certain classes of path-complete graphs including a family of dual graphs and all path-complete graphs with two nodes on an alphabet of two matrices. We provide approximation guarantees for several families of path-complete graphs, such as the De Bruijn graphs, establishing as a byproduct a constructive converse Lyapunov theorem for maximum/minimum-of-quadratics Lyapunov functions.Comment: To appear in SIAM Journal on Control and Optimization. Version 2 has gone through two major rounds of revision. In particular, a section on the performance of our algorithm on application-motivated problems has been added and a more comprehensive literature review is presente

Inevitability of Phase-locking in a Charge Pump Phase Lock Loop using Deductive Verification

Phase-locking in a charge pump (CP) phase lock loop (PLL) is said to be inevitable if all possible states of the CP PLL eventually converge to the equilibrium, where the input and output phases are in lock and the node voltages vanish. We verify this property for a CP PLL using deductive verification. We split this complex property into two sub-properties defined in two disjoint subsets of the state space. We deductively verify the first property using multiple Lyapunov certificates for hybrid systems, and use the Escape certificate for the verification of the second property. Construction of deductive certificates involves positivity check of polynomial inequalities (which is an NP-Hard problem), so we use the sound but incomplete Sum of Squares (SOS) relaxation algorithm to provide a numerical solution

Sums of hermitian squares and the BMV conjecture

Recently Lieb and Seiringer showed that the Bessis-Moussa-Villani conjecture from quantum physics can be restated in the following purely algebraic way: The sum of all words in two positive semidefinite matrices where the number of each of the two letters is fixed is always a matrix with nonnegative trace. We show that this statement holds if the words are of length at most 13. This has previously been known only up to length 7. In our proof, we establish a connection to sums of hermitian squares of polynomials in noncommuting variables and to semidefinite programming. As a by-product we obtain an example of a real polynomial in two noncommuting variables having nonnegative trace on all symmetric matrices of the same size, yet not being a sum of hermitian squares and commutators.Comment: 21 pages; minor changes; a companion Mathematica notebook is now available in the source fil