---
# System prepended metadata

title: 'Lecture 09 : Computing Lyapunov Functions with respect to Sums of Square optimization'
tags: [Underactuated Robotics, Optimal Controls, MIT 6.832]

---

# Lecture 09 : Computing Lyapunov Functions with respect to Sums of Square optimization

###### tags: `MIT 6.832` `Underactuated Robotics` `Optimal Controls`

These are my paper notes of Lecture %% of the course MIT 6.832 (Underactuated Robotics) of 2019

**Youtube Channel :** [6.832 Underactuated Robotics](https://www.youtube.com/channel/UChfUOAhz7ynELF-s_1LPpWg/)
**Textbook :** [website](http://underactuated.csail.mit.edu/)
**Lecture :** [video](https://youtu.be/OOUBpAsJLrY)

# Table of Contents

[TOC]

## Topics covered 
* Sums of Square
* Region of Attraction Analysis


## Notes

![](https://i.imgur.com/LOLSiaY.jpg)
![](https://i.imgur.com/2Zuio5F.jpg)
![](https://i.imgur.com/jjxgVdI.jpg)
![](https://i.imgur.com/6jo83W5.jpg)
