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Control analysis and design via randomised coordinate polynomial minimisation
Published in International Journal of Control, 2022
Giuseppe C. Calafiore, Carlo Novara, Corrado Possieri
First, note that given a monomial , it can be equivalently rewritten as , for each . Similarly, given , the ith coordinate-wise polynomial of f at is the univariate polynomial in with coefficients in that is obtained by considering all values in being fixed, and only the ith variate as variable, i.e.
where . The ith coordinate-wise polynomial is useful when we update the estimate of the solution to the PMP (1) with : determining and essentially consists in computing m + 1 coordinate-wise polynomials. The next proposition, whose proof is given in Appendix A.5, provides an upper bound on the number of elementary operations (sum and products) that have to be carried out to determine such polynomials.