“…[35,38,39,10,3]), and the software packages YALMIP [25] or SOSTOOLS [29] can assist in formulating SoS constraints as SDPs. More details on convex optimization and the link between SoS polynomials and SDPs can be found in [5,32,26], while examples using SoS programming to study dynamical systems can be found in [32,30,31,37,14,7,16,40,18].…”