## A polynomial-time algorithm for determining quadratic Lyapunov functions for nonlinear systemsL. Vandenberghe and S. Boyd
We consider nonlinear systems where is known to lie in the convex hull of matrices . For such systems, quadratic Lyapunov functions can be determined using convex programming techniques. This paper describes an algorithm that either finds a quadratic Lyapunov function or terminates with a proof that no quadratic Lyapunov function exists. The algorithm is an interior-point method based on the theory developed by Nesterov and Nemirovsky. |