Domain of Attraction: Analysis and Control via SOS Programming

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Convex Computation of the Region of Attraction of Polynomial Control Systems (2012, background): “recently [8], [40] and [9] and the references therein.”
A sampling approach to finding Lyapunov functions for nonlinear discrete-time systems (2016, methodology): “A solution to avoid non–convex problems is given for polynomial dynamics by sum–of–squares methods for testing global asymptotic stability [6], [7] or, for general nonlinear dynamics, by piecewise affine approximations of Lyapunov functions over simplices [8], [9].”