Beyond Ellipsoids: Semi-Algebraic Tightening for Chance Constraints Under Actuator Saturation

arXiv:2607.19639 · math.OC, cs.SY, eess.SY · Submitted 2026-07-22 · Read on arXiv

math.OC, cs.SY, eess.SY

Submitted: 2026-07-22

Updated: 2026-09-26

Code: https://github.com/CarloKaram/sos-preach

Terminology

• Lyapunov function — 12× in this paper · explained in 2 episodes
• Hybrid System — 4× in this paper · explained in 2 episodes
• Verification — 3× in this paper · explained in 2 episodes
• Trace — 2× in this paper · explained in 2 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Conference on Decision and Control — 1× in this paper
• Embeddings — 1× in this paper · explained in 2 episodes
• In Stochastic Model Predictive Control — 1× in this paper
• Semidefinite Program (SDP) — 1× in this paper · explained in 2 episodes

Sources

• Sum-of-Squares Certificates for Almost-Sure Reachability of Stochastic Polynomial Systems
• A Stochastic Tube-Based MPC Framework with Hard Input Constraints

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